# OCS2 Quadruped Controller

This is a ros2-control controller based on [legged_control](https://github.com/qiayuanl/legged_control) and [ocs2_ros2](https://github.com/legubiao/ocs2_ros2).

## 2. Build
```bash
cd ~/ros2_ws
colcon build --packages-up-to ocs2_quadruped_controller
```