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# Quadruped ROS2 Control
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This repository contains the ros2-control based controllers for the quadruped robot.
* [Controllers ](controllers ): contains the ros2-control controllers
* [Commands ](commands ): contains command node used to send command to the controller
* [Descriptions ](descriptions ): contains the urdf model of the robot
* [Hardwares ](hardwares ): contains the ros2-control hardware interface for the robot
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Todo List:
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- [x] [Mujoco Simulation ](hardwares/hardware_unitree_mujoco )
- [x] [Unitree Guide Controller ](controllers/unitree_guide_controller )
- [x] [Gazebo Simulation ](descriptions/quadruped_gazebo )
- [x] [Leg PD Controller ](controllers/leg_pd_controller )
- [x] [Contact Sensor Simulation ](https://github.com/legubiao/unitree_mujoco )
- [x] [OCS2 Quadruped Control ](controllers/ocs2_quadruped_controller )
- [ ] Learning-based Controller
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Video for Unitree Guide Controller:
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[](https://www.bilibili.com/video/BV1aJbAeZEuo/)
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Video for OCS2 Quadruped Controller:
[](https://www.bilibili.com/video/BV1UcxieuEmH/)
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## Quick Start
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* rosdep
```bash
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
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```
* Compile the package
```bash
colcon build --packages-up-to unitree_guide_controller go2_description keyboard_input hardware_unitree_mujoco
```
* Launch the unitree mujoco go2 simulation
* Launch the ros2-control
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch go2_description unitree_guide.launch.py
```
* Run the keyboard control node
```bash
source ~/ros2_ws/install/setup.bash
ros2 run keyboard_input keyboard_input
```
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For more details, please refer to the [unitree guide controller ](controllers/unitree_guide_controller/ ) and [go2 description ](descriptions/unitree/go2_description/ ).
