History

Huang Zhenbiao eaab6d7a69 add gazebo simulation for A1, tested rl controller passed		2024-10-08 21:36:42 +08:00
..
include/legged_gym_controller	add gazebo simulation for A1, tested rl controller passed	2024-10-08 21:36:42 +08:00
src	add gazebo simulation for A1, tested rl controller passed	2024-10-08 21:36:42 +08:00
CMakeLists.txt	add load config file	2024-10-07 11:57:32 +08:00
README.md	add load config file	2024-10-07 11:57:32 +08:00
legged_gym_controller.xml	can run if remove pytorch support.	2024-10-04 20:14:34 +08:00
package.xml	add rl_sdk	2024-10-03 20:51:33 +08:00

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/cpu/libtorch-cxx11-abi-shared-with-deps-2.0.1%2Bcpu.zip
unzip libtorch-cxx11-abi-shared-with-deps-2.0.1+cpu.zip -d ./

cd ~/CLionProjects/
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