History

Zhenbiao Huang 6015ae749c update README.md		2024-11-06 20:07:48 +08:00
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include/rl_quadruped_controller	rl controller enhanced	2024-10-21 21:47:25 +08:00
launch	try to add gazebo classic simulation for rl	2024-10-24 21:02:55 +08:00
src	rl controller enhanced	2024-10-21 21:47:25 +08:00
CMakeLists.txt	rl controller enhanced	2024-10-21 21:47:25 +08:00
README.md	update README.md	2024-11-06 20:07:48 +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
Ubuntu 22.04
- ROS2 Humble

2. Build

2.1 Installing libtorch

cd ~/CLionProjects/
wget https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-2.5.0%2Bcpu.zip
unzip unzip libtorch-cxx11-abi-shared-with-deps-2.5.0+cpu.zip

cd ~/CLionProjects/
rm -rf libtorch-cxx11-abi-shared-with-deps-2.5.0+cpu.zip
echo 'export Torch_DIR=~/CLionProjects/libtorch' >> ~/.bashrc
echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:~/CLionProjects/libtorch/lib' >> ~/.bashrc

2.2 Build Controller

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

3. Launch

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 rl_quadruped_controller mujoco.launch.py pkg_description:=go2_description

3.2 Gazebo Classic 11 (ROS2 Humble)

source ~/ros2_ws/install/setup.bash
ros2 launch rl_quadruped_controller gazebo_classic.launch.py pkg_description:=a1_description

3.3 Gazebo Harmonic (ROS2 Jazzy)

source ~/ros2_ws/install/setup.bash
ros2 launch rl_quadruped_controller gazebo.launch.py pkg_description:=go2_description