quadruped_ros2_control/controllers/ocs2_quadruped_controller

OCS2 Quadruped Controller

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

Tested environment:

• Ubuntu 24.04
  • ROS2 Jazzy
• Ubuntu 22.04
  • ROS2 Humble

*[x] [2025-01-16] Add support for ground truth estimator.

1. Interfaces

Required hardware interfaces:

• command:
  • joint position
  • joint velocity
  • joint effort
  • KP
  • KD
• state:
  • joint effort
  • joint position
  • joint velocity
  • imu sensor
    • linear acceleration
    • angular velocity
    • orientation
  • feet force sensor

2. Build

2.1 Build Dependencies

Before install OCS2 ROS2, please follow the guide to install Pinocchio, don't use the pinocchio install by rosdep!

• 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

supported robot description:

• Unitree
  • go2_description
  • go1_description
  • a1_description
  • aliengo_description
  • b2_description
• Xiaomi
  • cyberdog_description
• DeepRobotics
  • lite3_description
  • x30_description
• Anybotics
  • anymal_c_description

3.1 Mujoco Simulation

Warm Reminder: You need to launch Unitree Mujoco C++ Simulation before launch the controller.

source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=go2_description

At the first launch, controller may compile the OCS2 model and generate the shared library. The compilation process may take a few minutes. After the compilation, restart the controller and the robot should stand up. Then you can use the keyboard or joystick to control the robot (Keyboard 2 or Joystick LB+A to Trot mode).