Terrain-Aware Humanoid Footstep Planner (ROS 2) built @ Golden Gate Innovations · ROS 2 Humble

This project implements a sampling-based humanoid footstep planner inspired by Atlas-class robots. It is written in C++ and structured as a ROS 2 node.

Features

• Alternating left/right foot planning
• Terrain-aware foothold sampling
• Stability and kinematic feasibility checks
• Cost-based foothold selection
• Modular architecture (planner, terrain, ROS node)

Topics

Subscribed

• /terrain_map (custom grid or heightmap)
• /robot_state (current foot poses)

Published

• /footstep_plan (sequence of footsteps)

Build

colcon build --packages-select footstep_planner
source install/setup.bash