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quadruped_ros2_control
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quadruped_ros2_control/controllers/rl_quadruped_controller
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Huang Zhenbiao 0ff1b344e7 add estimator 2024-10-15 22:40:15 +08:00
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include/rl_quadruped_controller add estimator 2024-10-15 20:17:03 +08:00
src add estimator 2024-10-15 22:40:15 +08:00
CMakeLists.txt add estimator 2024-10-15 20:17:03 +08:00
README.md add estimator 2024-10-15 22:40:15 +08:00
package.xml tried go2 rl control but failed 2024-10-10 21:22:58 +08:00
rl_quadruped_controller.xml tried go2 rl control but failed 2024-10-10 21:22:58 +08:00

README.md

RL Quadruped Controller

This repository contains the reinforcement learning based controllers for the quadruped robot.

Tested environment:

  • Ubuntu 24.04
    • ROS2 Jazzy

2. Build

2.1 Installing libtorch

cd ~/CLionProjects/
wget https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-2.0.1%2Bcpu.zip
unzip libtorch-cxx11-abi-shared-with-deps-2.0.1+cpu.zip -d ./

cd ~/CLionProjects/
rm -rf libtorch-shared-with-deps-latest.zip
echo 'export Torch_DIR=~/CLionProjects/libtorch' >> ~/.bashrc

2.2 Build Controller

cd ~/ros2_ws
colcon build --packages-up-to rl_quadruped_controller

3. Launch

  • Unitree A1 Robot

    source ~/ros2_ws/install/setup.bash
ros2 launch a1_description rl_control.launch.py

  • Unitree Go2 Robot

    source ~/ros2_ws/install/setup.bash
ros2 launch go2_description rl_control.launch.py