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quadruped_ros2_control
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quadruped_ros2_control/controllers/ocs2_quadruped_controller/README.md

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OCS2 Quadruped Controller

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

2. Build

cd ~/ros2_ws
colcon build --packages-up-to ocs2_quadruped_controller