quadruped_ros2_control/controllers/rl_quadruped_controller/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