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quadruped_ros2_control
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quadruped_ros2_control/controllers/ocs2_quadruped_controller
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Zhenbiao Huang b76e70427a modified LICENSE and reference 2024-10-03 19:26:54 +08:00
..
config add visualizer 2024-09-30 20:02:56 +08:00
include/ocs2_quadruped_controller load joint names and feet names from config file 2024-10-02 13:45:21 +08:00
src load joint names and feet names from config file 2024-10-02 13:45:21 +08:00
CMakeLists.txt add visualizer 2024-09-30 20:02:56 +08:00
README.md modified readme 2024-10-01 19:10:23 +08:00
ocs2_quadruped_controller.xml state estimate tested 2024-09-25 21:01:50 +08:00
package.xml ad qpoases colcon 2024-09-28 23:05:13 +08:00

README.md

OCS2 Quadruped Controller

This is a ros2-control controller based on legged_control and ocs2_ros2.

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