119 lines
4.3 KiB
Markdown
119 lines
4.3 KiB
Markdown
# OCS2 Quadruped Controller
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This is a ros2-control controller based on [legged_control](https://github.com/qiayuanl/legged_control)
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and [ocs2_ros2](https://github.com/legubiao/ocs2_ros2).
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Tested environment:
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* Ubuntu 24.04
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* ROS2 Jazzy
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* Ubuntu 22.04
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* ROS2 Humble
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* [x] **[2025-01-16]** Add support for ground truth estimator.
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* [x] **[2025-03-15]** OCS2 Controller now can switch between passive and MPC mode.
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[](https://www.bilibili.com/video/BV1UcxieuEmH/)
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## 1. Interfaces
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Required hardware interfaces:
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* command:
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* joint position
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* joint velocity
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* joint effort
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* KP
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* KD
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* state:
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* joint effort
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* joint position
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* joint velocity
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* imu sensor
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* linear acceleration
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* angular velocity
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* orientation
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* feet force sensor
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## 2. Build
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### 2.1 Build Dependencies
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Before install OCS2 ROS2, please follow the guide to install [Pinocchio](https://stack-of-tasks.github.io/pinocchio/download.html). **Don't use the pinocchio install by rosdep**!
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**After installed Pinocchio**, follow below step to clone ocs2 ros2 library to src folder.
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```bash
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cd ~/ros2_ws/src
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git clone https://github.com/legubiao/ocs2_ros2
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cd ocs2_ros2
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git submodule update --init --recursive
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cd ..
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rosdep install --from-paths src --ignore-src -r -y
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```
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### 2.2 Build OCS2 Quadruped Controller
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```bash
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cd ~/ros2_ws
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colcon build --packages-up-to ocs2_quadruped_controller --symlink-install
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```
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## 3. Launch
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supported robot description:
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* Unitree
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* go2_description
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* go1_description
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* a1_description
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* aliengo_description
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* b2_description
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* Xiaomi
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* cyberdog_description
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* DeepRobotics
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* lite3_description
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* x30_description
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* Anybotics
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* anymal_c_description
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### 3.1 About OCS2 Shared Library
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OCS2 Quadruped controller depends on the OCS2 library, it required c++ automatic differentiation shared library. When first launch the controller, it will compile the OCS2 model and generate the shared library.
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You may see something similar to:
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```
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[gazebo-5] [CppAdInterface] Compiling Shared Library: /home/biao/ocs2_cpp_ad/b2/RR_foot_position/cppad_generated/RR_foot_position_libcppadcg_tmp-27918274.so
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[gazebo-5] [CppAdInterface] Renaming /home/biao/ocs2_cpp_ad/b2/RR_foot_position/cppad_generated/RR_foot_position_libcppadcg_tmp-27918274.so to /home/biao/ocs2_cpp_ad/b2/RR_foot_position/cppad_generated/RR_foot_position_lib.so
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[gazebo-5] [CppAdInterface] Compiling Shared Library: /home/biao/ocs2_cpp_ad/b2/RR_foot_velocity/cppad_generated/RR_foot_velocity_libcppadcg_tmp-94918274.so
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[gazebo-5] [CppAdInterface] Renaming /home/biao/ocs2_cpp_ad/b2/RR_foot_velocity/cppad_generated/RR_foot_velocity_libcppadcg_tmp-94918274.so to /home/biao/ocs2_cpp_ad/b2/RR_foot_velocity/cppad_generated/RR_foot_velocity_lib.so
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[gazebo-5] [CppAdInterface] Compiling Shared Library: /home/biao/ocs2_cpp_ad/b2/RR_foot_orientation/cppad_generated/RR_foot_orientation_libcppadcg_tmp-83618274.so
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[gazebo-5] [CppAdInterface] Renaming /home/biao/ocs2_cpp_ad/b2/RR_foot_orientation/cppad_generated/RR_foot_orientation_libcppadcg_tmp-83618274.so to /home/biao/ocs2_cpp_ad/b2/RR_foot_orientation/cppad_generated/RR_foot_orientation_lib.so
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```
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The compilation process may take a few minutes. After the compilation, restart the controller and the robot should stand up.
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To config the path for the cppAD shared library, you can modify the `modelFolderCppAd` item in `task.info` file, which located at the `config/ocs2` folder under robot description package. If the path is not start with `/`, it will be considered as **relative path to the Linux Home folder**.
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### 3.2 Usage
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#### Keyboard State Switch
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* Keyboard 1 : Passive Mode
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* Keyboard 2 : OCS2 MPC Mode
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* Keyboard 2: stance
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* Keyboard 3: trot
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* Keyboard 4: standing_trot
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* Keyboard 5: flying_trot
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### 3.3 Launch Controller
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#### Mujoco Simulation
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> **Warm Reminder**: You need to launch [Unitree Mujoco C++ Simulation](https://github.com/legubiao/unitree_mujoco) before launch the controller.
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=go2_description
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```
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#### Gazebo Launch
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch ocs2_quadruped_controller gazebo.launch.py pkg_description:=go2_description
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``` |