69 lines
1.5 KiB
Markdown
69 lines
1.5 KiB
Markdown
# OCS2 Quadruped Controller
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This is a ros2-control controller based on [legged_control](https://github.com/qiayuanl/legged_control)
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and [ocs2_ros2](https://github.com/legubiao/ocs2_ros2).
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Tested environment:
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* Ubuntu 24.04
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* ROS2 Jazzy
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[](https://www.bilibili.com/video/BV1UcxieuEmH/)
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## 1. Interfaces
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Required hardware interfaces:
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* command:
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* joint position
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* joint velocity
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* joint effort
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* KP
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* KD
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* state:
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* joint effort
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* joint position
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* joint velocity
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* imu sensor
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* linear acceleration
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* angular velocity
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* orientation
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* feet force sensor
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## 2. Build
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### 2.1 Build Dependencies
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* OCS2 ROS2 Libraries
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```bash
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colcon build --packages-up-to ocs2_legged_robot_ros
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colcon build --packages-up-to ocs2_self_collision
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```
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### 2.2 Build OCS2 Quadruped Controller
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```bash
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cd ~/ros2_ws
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colcon build --packages-up-to ocs2_quadruped_controller
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```
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## 3. Launch
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* Unitree Go1 Robot
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch go1_description ocs2_control.launch.py
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```
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* Unitree Aliengo Robot
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch aliengo_description ocs2_control.launch.py
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```
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* Unitree Go2 Robot
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch go2_description ocs2_control.launch.py
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```
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* Unitree B2 Robot
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch b2_description ocs2_control.launch.py
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``` |