strelka is an open source modular library for quadruped locomotion, designed to provide researchers and developers with a flexible and extensible framework for implementing and testing a range of quadrupedal locomotion algorithms and controllers. strelka provides a seamless integration of planning, control, estimation, and communication modules, enabling users to develop and test complex locomotion strategies in simulation and on real hardware platforms.
The key feature of strelka is its modular design, which allows users to easily swap out and customize individual components of the locomotion pipeline. This means that users can quickly experiment with different control algorithms, sensors, and other hardware components, without having to rewrite large portions of the codebase. strelka also provides a decent set of pre-built controllers and locomotion primitives that users can leverage to quickly prototype and test new ideas.
It is not based on Robot Operating System (ROS). Instead it uses Lightweight Communications and Marshalling (LCM) library and Eigen. The reason for that is the fact that majority of the control stack does not actually require ROS dependencies. So deployment speed on the real robot becomes much faster.
To aid in development and testing, strelka_ros includes a range of visualization and data-processing tools. These tools make it easy to visualize the robot's motion and sensor data, as well as to monitor the performance of the various control and planning algorithms. strelka_ros also includes support for the Gazebo simulation environment, allowing users to easily test and validate their locomotion algorithms in a realistic simulated environment.
Overall, strelka is an ideal framework for researchers and developers who are interested in experimenting with quadrupedal locomotion, and who are looking for a flexible and extensible software platform that can be easily customized to meet their specific needs.
# Assuming you cloned the repo to ~/
mkdir ~/strelka/build
cd ~/strelka/build
cmake -DCMAKE_BUILD_TYPE=Release ..
sudo make install
*Building the library in release mode is important to keep MPC's update rate high enough
cd ~/strelka/build
sudo make uninstall
cd build && ctest --vv
Real robot would require both robot_low_command.lcm and robot_raw_state.lcm publishers. strelka_ros provides full simulation support.
~/strelka/build/examples/lcm_high_command_publisher
~/strelka/build/examples/a1_state_estimator
~/strelka/build/examples/a1_wbic
~/strelka/build/examples/a1_local_planner
Also make sure to check out strelka_ros for use of ROS and perception information with strelka library.
lcm-mon repo can be used to debug LCM messages
lcm-mon -t ~/strelka/strelka_messages/lcm