quadruped_ros2_control/controllers/legged_gym_controller/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