59 lines
1.6 KiB
Markdown
59 lines
1.6 KiB
Markdown
# RL Quadruped Controller
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This repository contains the reinforcement learning based controllers for the quadruped robot.
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[](https://www.bilibili.com/video/BV1QP1pYBE47/)
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Tested environment:
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* Ubuntu 24.04
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* ROS2 Jazzy
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* Ubuntu 22.04
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* ROS2 Humble
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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-2.5.0%2Bcpu.zip
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unzip unzip libtorch-cxx11-abi-shared-with-deps-2.5.0+cpu.zip
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```
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```bash
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cd ~/CLionProjects/
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rm -rf libtorch-cxx11-abi-shared-with-deps-2.5.0+cpu.zip
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echo 'export Torch_DIR=~/CLionProjects/libtorch' >> ~/.bashrc
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echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:~/CLionProjects/libtorch/lib' >> ~/.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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### 3.1 Mujoco Simulation
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> **Warm Reminder**: You need to launch [Unitree Mujoco C++ Simulation](https://github.com/legubiao/unitree_mujoco) before launch the controller.
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch rl_quadruped_controller mujoco.launch.py pkg_description:=go2_description
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```
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### 3.2 Gazebo Classic 11 (ROS2 Humble)
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch rl_quadruped_controller gazebo_classic.launch.py pkg_description:=a1_description
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```
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### 3.3 Gazebo Harmonic (ROS2 Jazzy)
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch rl_quadruped_controller gazebo.launch.py pkg_description:=go2_description
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``` |