TurtleQUAD

Source code for the second revision of TURTLE's quadruped project (QUAD).

Dependencies

Build requires CMake (with Make) and the following packages:

• Debian/Ubuntu: apt install libeigen3-dev libspdlog-dev libgtest-dev
• Arch: pacman -S eigen spdlog gtest

Building for Raspberry Pi requires an aarch64 compiler: aarch64-linux-gnu-gcc

Optionally Doxygen can be used to generate documentation for this project.

Build

Generate Buildsystem (once on setup)

cmake --fresh --preset rpi

Note

There are multiple presets. Use preset rpi for building for the Raspberry Pi and local for building/testing locally (x86-64)

Build the Project

To build:

make -C build-rpi

To build & deploy to the robot:

make -C build-rpi deploy