mpc and wbc for mini cheetah in pybullet

mpc forked from https://github.com/Derek-TH-Wang/quadruped_ctrl

we added the wbc

System requirements: Ubuntu 16.04 ros Kinetic

Ubuntu 18.04 ros Melodic

python3 pybullet numpy

Running:

run the controller in simulator:

1.roscore

2.rosrun quadruped_ctrl walking_simulation.py

3.roslaunch quadruped_ctrl quadruped_ctrl.launch

stand: 4.rosservice call /robot_mode "cmd: 1"

5.rosservice call /robot_mode "cmd: 4"

you can switch the gait type:

6.rosservice call /gait_type "cmd: 9"

gait type:

1:bunding

2:pronking

3:random

4:standing

5:trotRunning

6:random2

7:galloping

8:pacing

9:trot (same as 0)

10:walking

11:walking2