34 lines
789 B
Markdown
34 lines
789 B
Markdown
# RL Quadruped Controller
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This repository contains the reinforcement learning based controllers for the quadruped robot.
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Tested environment:
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* Ubuntu 24.04
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* ROS2 Jazzy
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## 2. Build
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### 2.1 Installing libtorch
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```bash
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cd ~/CLionProjects/
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wget https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-2.0.1%2Bcpu.zip
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unzip libtorch-cxx11-abi-shared-with-deps-2.0.1+cpu.zip -d ./
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```
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```bash
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cd ~/CLionProjects/
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rm -rf libtorch-shared-with-deps-latest.zip
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echo 'export Torch_DIR=~/CLionProjects/libtorch' >> ~/.bashrc
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```
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### 2.2 Build Controller
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```bash
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cd ~/ros2_ws
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colcon build --packages-up-to rl_quadruped_controller
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```
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## 3. Launch
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* Unitree A1 Robot
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch a1_description rl_control.launch.py
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``` |