Reactive Walk MPC Controller
The pal_lip_mpc_actions package provides a Linear Inverted Pendulum (LIP) based MPC controller for reactive walking. In simulation, this controller should be run with the Gazebo simulator.
Full body MPC
roslaunch pal_lip_mpc_actions talos_reactive_walk_controller.launch simulation:=true with_actuators:=false
roslaunch pal_lip_mpc_actions talos_reactive_walk_controller.launch
MPC lower body + position control upper body
Launch the MPC controller with a fixed upper body robot model, then start the upper body position controllers separately.
roslaunch pal_lip_mpc_actions talos_reactive_walk_controller.launch simulation:=true with_actuators:=false robot:="full_v2_fixed_upper_body"
roslaunch pal_lip_mpc_actions talos_reactive_walk_controller.launch robot:="full_v2_fixed_upper_body"
More info can be found in the pal_lip_mpc_actions repository and humanoid_navigation.