EmbodiedAI
/
quadruped_ros2_control
mirror of https://github.com/legubiao/quadruped_ros2_control.git
3
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
quadruped_ros2_control/controllers/legged_gym_controller
History
Zhenbiao Huang b064925c4b add rl_sdk 2024-10-03 20:51:33 +08:00
..
library/rl_sdk add rl_sdk 2024-10-03 20:51:33 +08:00
src add rl_sdk 2024-10-03 20:51:33 +08:00
CMakeLists.txt add rl_sdk 2024-10-03 20:51:33 +08:00
README.md add rl_sdk 2024-10-03 20:51:33 +08:00
package.xml add rl_sdk 2024-10-03 20:51:33 +08:00

README.md

Legged Gym Controller

This repository contains the reinforcement learning based controllers for the quadruped robot.

Tested environment:

  • Ubuntu 24.04
    • ROS2 Jazzy

2. Build

2.1 Installing libtorch

cd ~/CLionProjects/
wget https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-2.0.1%2Bcpu.zip
unzip libtorch-cxx11-abi-shared-with-deps-2.0.1+cpu.zip -d ./
rm libtorch-cxx11-abi-shared-with-deps-2.0.1+cpu.zip
echo 'export Torch_DIR=~/CLionProjects/libtorch' >> ~/.bashrc

2.2 Build Legged Gym Controller

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