From 6015ae749cbd0459e6fd6efb15c5754d4ddf280d Mon Sep 17 00:00:00 2001 From: Zhenbiao Huang Date: Wed, 6 Nov 2024 20:07:48 +0800 Subject: [PATCH] update README.md --- README.md | 8 ++++++-- controllers/ocs2_quadruped_controller/README.md | 11 +++++++++-- controllers/rl_quadruped_controller/README.md | 15 ++++++++++++--- controllers/unitree_guide_controller/README.md | 2 +- 4 files changed, 28 insertions(+), 8 deletions(-) diff --git a/README.md b/README.md index d0a1561..827b1c7 100644 --- a/README.md +++ b/README.md @@ -25,6 +25,9 @@ Video for Unitree Guide Controller: Video for OCS2 Quadruped Controller: [![](http://i0.hdslb.com/bfs/archive/e758ce019587032449a153cf897a543443b64bba.jpg)](https://www.bilibili.com/video/BV1UcxieuEmH/) +Video for RL Quadruped Controller: +[![](http://i0.hdslb.com/bfs/archive/9886e7f9ed06d7f880b5614cb2f4c3ec1d7bf85f.jpg)](https://www.bilibili.com/video/BV1QP1pYBE47/) + ## 1. Quick Start * rosdep @@ -43,8 +46,9 @@ Please use **C++ Simulation** in this [Mujoco Simulation](https://github.com/leg sensor. > **Warning:** CycloneDDS ROS2 RMW may conflict with unitree_sdk2. If you cannot launch unitree mujoco simulation -> without `sudo`, then you cannot used `unitree_mujoco_hardware`. You can switch to gazebo, or try to solve the conflict -> by uninstall CycloneDDS ROS2 RMW. +> without `sudo`, then you cannot used `unitree_mujoco_hardware`. This conflict could be solved by one of below two methods: +> 1. Uninstall CycloneDDS ROS2 RMW, or +> 2. Follow the guide in [unitree_ros2](https://github.com/unitreerobotics/unitree_ros2) to configure the ROS2 RMW by compiling cyclone dds. * Compile Unitree Hardware Interfaces ```bash diff --git a/controllers/ocs2_quadruped_controller/README.md b/controllers/ocs2_quadruped_controller/README.md index 5f62e29..2fef223 100644 --- a/controllers/ocs2_quadruped_controller/README.md +++ b/controllers/ocs2_quadruped_controller/README.md @@ -61,10 +61,17 @@ supported robot description: * b2_description * Xiaomi * cyberdog_description +* DeepRobotics + * lite3_description + * x30_description +* Anybotics + * anymal_c_description ### 3.1 Mujoco Simulation - +> **Warm Reminder**: You need to launch [Unitree Mujoco C++ Simulation](https://github.com/legubiao/unitree_mujoco) before launch the controller. ```bash source ~/ros2_ws/install/setup.bash ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=go2_description -``` \ No newline at end of file +``` + +At the first launch, controller may compile the OCS2 model and generate the shared library. The compilation process may take a few minutes. After the compilation, restart the controller and the robot should stand up. Then you can use the keyboard or joystick to control the robot (Keyboard 2 or Joystick LB+A to Trot mode). \ No newline at end of file diff --git a/controllers/rl_quadruped_controller/README.md b/controllers/rl_quadruped_controller/README.md index 28f84fe..baa01cf 100644 --- a/controllers/rl_quadruped_controller/README.md +++ b/controllers/rl_quadruped_controller/README.md @@ -2,18 +2,25 @@ This repository contains the reinforcement learning based controllers for the quadruped robot. +[![](http://i0.hdslb.com/bfs/archive/9886e7f9ed06d7f880b5614cb2f4c3ec1d7bf85f.jpg)](https://www.bilibili.com/video/BV1QP1pYBE47/) + Tested environment: + * Ubuntu 24.04 * ROS2 Jazzy - +* Ubuntu 22.04 + * ROS2 Humble ## 2. Build + ### 2.1 Installing libtorch + ```bash cd ~/CLionProjects/ wget https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-2.5.0%2Bcpu.zip unzip unzip libtorch-cxx11-abi-shared-with-deps-2.5.0+cpu.zip ``` + ```bash cd ~/CLionProjects/ rm -rf libtorch-cxx11-abi-shared-with-deps-2.5.0+cpu.zip @@ -22,6 +29,7 @@ echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:~/CLionProjects/libtorch/lib' >> ~ ``` ### 2.2 Build Controller + ```bash cd ~/ros2_ws colcon build --packages-up-to rl_quadruped_controller @@ -30,20 +38,21 @@ colcon build --packages-up-to rl_quadruped_controller ## 3. Launch ### 3.1 Mujoco Simulation - +> **Warm Reminder**: You need to launch [Unitree Mujoco C++ Simulation](https://github.com/legubiao/unitree_mujoco) before launch the controller. ```bash source ~/ros2_ws/install/setup.bash ros2 launch rl_quadruped_controller mujoco.launch.py pkg_description:=go2_description ``` ### 3.2 Gazebo Classic 11 (ROS2 Humble) + ```bash source ~/ros2_ws/install/setup.bash ros2 launch rl_quadruped_controller gazebo_classic.launch.py pkg_description:=a1_description ``` - ### 3.3 Gazebo Harmonic (ROS2 Jazzy) + ```bash source ~/ros2_ws/install/setup.bash ros2 launch rl_quadruped_controller gazebo.launch.py pkg_description:=go2_description diff --git a/controllers/unitree_guide_controller/README.md b/controllers/unitree_guide_controller/README.md index 9e36d00..38cb490 100644 --- a/controllers/unitree_guide_controller/README.md +++ b/controllers/unitree_guide_controller/README.md @@ -42,7 +42,7 @@ colcon build --packages-up-to unitree_guide_controller ## 3. Launch ### 3.1 Mujoco Simulation - +> **Warm Reminder**: You need to launch [Unitree Mujoco C++ Simulation](https://github.com/legubiao/unitree_mujoco) before launch the controller. ```bash source ~/ros2_ws/install/setup.bash ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go2_description