An adaption of old snake monster CPG code to the xMonster in Python.
Robot is able to walk with IMU stablization using CPG.
We also have a visualization and simple kinematic state estimator working in ROS.
You need Python 2.7 or Python 3.x or later to run mypy. You can have multiple Python versions (2.x and 3.x) installed on the same system without problems.
-Numpy
You need to have a ros distribution on your computer as well. This code has been tested on kinetic and melodic.
Clone the xMonsterCPG package into an existing ROS workspace and build the workspace.
In order to run the CPG code and Visualiztion tool: roslaunch xMonsterCPG launch_test.launch.
Add Yaml files for greater configurability
Original Paper: https://www.sartoretti.science/publications/17-ICRA2018_InertialCPG.pdf