ocs2_quadruped_controller 0.0.0 A ROS2-Control quadruped controller based on OCS2 library Huang Zhenbiao Apache-2.0 ament_cmake backward_ros controller_interface controller_common pluginlib control_input_msgs qpoases_colcon ocs2_self_collision ocs2_legged_robot_ros angles ament_lint_auto ament_lint_common ament_cmake