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CMakeLists.txt	ocs2 launch file refact	2024-10-18 11:47:31 +08:00
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README.md

OCS2 Quadruped Controller

This is a ros2-control controller based on legged_control and ocs2_ros2.

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy
Ubuntu 22.04
- ROS2 Humble

1. Interfaces

Required hardware interfaces:

command:
- joint position
- joint velocity
- joint effort
- KP
- KD
state:
- joint effort
- joint position
- joint velocity
- imu sensor
  - linear acceleration
  - angular velocity
  - orientation
- feet force sensor

2. Build

2.1 Build Dependencies

OCS2 ROS2 Libraries

colcon build --packages-up-to ocs2_legged_robot_ros
colcon build --packages-up-to ocs2_self_collision

2.2 Build OCS2 Quadruped Controller

cd ~/ros2_ws
colcon build --packages-up-to ocs2_quadruped_controller

3. Launch

supported robot description:

Unitree
- go2_description
- go1_description
- a1_description
- aliengo_description
- b2_description
Xiaomi
- cyberdog_description
DeepRobotics
- lite3_description
- x30_description
Anybotics
- anymal_c_description

3.1 Mujoco Simulation

Warm Reminder: You need to launch Unitree Mujoco C++ Simulation before launch the controller.

source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=go2_description

At the first launch, controller may compile the OCS2 model and generate the shared library. The compilation process may take a few minutes. After the compilation, restart the controller and the robot should stand up. Then you can use the keyboard or joystick to control the robot (Keyboard 2 or Joystick LB+A to Trot mode).