Welcome to the documentation for the lipm_walking_controller version 1.6.

The easiest way to get started with the controller is to use its Docker image:

xhost +local:docker
docker run -it --rm --user ayumi -e DISPLAY=${DISPLAY} -v /tmp/.X11-unix:/tmp/.X11-unix:rw stephanecaron/lipm_walking_controller lipm_walking --floor

Learn how the code is organized on the code overview page. If you have questions that are not already answered in the controller FAQ, go ahead and ask them in the issue tracker.