ROS 2 packages for the control, simulation, and deployment of legged robots.
- For installation instructions, please refer to the Installation Guide.
- For usage instructions, please refer to the Usage Guide.
- For system overview and module responsibilities, please refer to the Architecture Guide.
- For mapping setup with FAST-LIO 2 and MID360, please refer to the Mapping Guide.
- For extending the stack to a new robot, please refer to How to Add a New Robot.
- For RL observation/action/model integration details, please refer to RL Customization Guide.