quadruped_ros2_control/controllers/ocs2_quadruped_controller/README.md

39 lines
901 B
Markdown

# OCS2 Quadruped Controller
This is a ros2-control controller based on [legged_control](https://github.com/qiayuanl/legged_control)
and [ocs2_ros2](https://github.com/legubiao/ocs2_ros2).
## 2. Build
### 2.1 Build Dependencies
* OCS2 ROS2 Libraries
```bash
colcon build --packages-up-to ocs2_legged_robot_ros
colcon build --packages-up-to ocs2_self_collision
```
### 2.2 Build OCS2 Quadruped Controller
```bash
cd ~/ros2_ws
colcon build --packages-up-to ocs2_quadruped_controller
```
## 3. Launch
* Unitree Go1 Robot
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch go1_description ocs2_control.launch.py
```
* Unitree Aliengo Robot
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch aliengo_description ocs2_control.launch.py
```
* Unitree Go2 Robot
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch go2_description ocs2_control.launch.py
```