FDM Planning ROS Node

June 1, 2025 ยท View on GitHub

Overview

The FDM Planning ROS Node is a ROS node that integrates the FDM planning framework with ROS. It provides a ROS interface for the FDM planning node and allows for easy integration with other ROS nodes.

The node is developed for ANYmal D being on Release 24.04.

Installation

For details on the ROS integration, see the README.

Usage

Launch Files

The planner.launch file launches the FDM planning node and the necessary ROS nodes for the planner. The record.launch file logs all relevant data from the robot for later analysis and model fine-tuning.

Under Tools select the WaypointTool and mark a pose somewhere in the environment. You should then see the robot to start navigating and walking towards the goal.