Here is a list of all related documentation pages:

Building from source	This page is for archival only, don't use it for a fresh installation
Using the Docker image	The easiest way to get started with the controller is to run its Docker image from an Ubuntu Linux distribution
Overview of the code	The LIPM walking controller is built with the mc_rtc framework
Tuning the stabilizer	The stabilizer performs feedback control to make the robot track the desired walking pattern
Troubleshooting	This page summarizes known issues with dependencies and their common workarounds
Walking pattern generation	This page is the unfinished draft of accompanying notes for a tutorial I gave in December 2019