leg_pd_controller

Leg PD Controller

This package contains a simple PD controller for the leg joints of the quadruped robot. By using this controller, other ros2-control based on position control can also work on the hardware interface which only contain effort control (for example, gazebo ros2 control).

Tested environment:

• Ubuntu 24.04
  • ROS2 Jazzy

1. Interfaces

Provided interfaces:

• joint position
• joint velocity
• joint effort
• KP
• KD

Required hardware interfaces:

• command:
  • joint effort
• state:
  • joint position
  • joint velocity

2. Build

cd ~/ros2_ws
colcon build --packages-up-to leg_pd_controller

3. Run

• Go1/A1 in gazebo simulation