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/nightly/cpu/libtorch-shared-with-deps-latest.zip
unzip libtorch-shared-with-deps-latest.zip
rm -rf libtorch-shared-with-deps-latest.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

3. Launch

• Unitree A1 Robot

  source ~/ros2_ws/install/setup.bash
  ros2 launch a1_description rl_control.launch.py