quadruped_ros2_control/controllers/ocs2_quadruped_controller/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

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

• Unitree Go1 Robot

  source ~/ros2_ws/install/setup.bash
  ros2 launch go1_description ocs2_control.launch.py
  

• Unitree Aliengo Robot

  source ~/ros2_ws/install/setup.bash
  ros2 launch aliengo_description ocs2_control.launch.py
  

• Unitree Go2 Robot

  source ~/ros2_ws/install/setup.bash
  ros2 launch go2_description ocs2_control.launch.py
  

• Unitree B2 Robot

  source ~/ros2_ws/install/setup.bash
  ros2 launch b2_description ocs2_control.launch.py