update README.md

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
+> without `sudo`, then you cannot used `unitree_mujoco_hardware`. This conflict could be solved by one of below two methods:
-> by uninstall CycloneDDS ROS2 RMW.
+> 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

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
-```
+```
+
+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).

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

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