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Welcome to the Pacer wiki!

Pacer is an open source project for legged robot locomotion and control.
This wiki is designed to acquaint users with the basics of how to use the software and how to extend the existing code for their own use.

Dependencies

The following dependences must be installed on your system:

Required:

Boost: http://www.boost.org/

Ravelin: https://github.com/PositronicsLab/Ravelin (does transformations between poses and linear algebra)

Moby: https://github.com/PositronicsLab/Moby

Optional:

Gazebo: https://gazebosim.org Tested on Gazebo 5.1 (if you want to simulate the robot in Gazebo)

For visualization in Moby:

Open-Scene-Graph: http://www.openscenegraph.org/