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quadruped_ros2_control
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quadruped_ros2_control/controllers/ocs2_quadruped_controller
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Huang Zhenbiao ee4118b4e5 current problem is from wbc 2024-09-27 17:40:22 +08:00
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include/ocs2_quadruped_controller current problem is from wbc 2024-09-27 17:40:22 +08:00
src current problem is from wbc 2024-09-27 17:40:22 +08:00
CMakeLists.txt can run main thread 2024-09-26 22:18:11 +08:00
LICENSE ocs2 controller init 2024-09-24 19:48:14 +08:00
README.md can run main thread 2024-09-26 22:18:11 +08:00
ocs2_quadruped_controller.xml state estimate tested 2024-09-25 21:01:50 +08:00
package.xml state estimate tested 2024-09-25 21:01:50 +08:00

README.md

OCS2 Quadruped Controller

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

2. Build

2.1 Build Dependencies

  • OCS2 ROS2 Libraries 
    colcon build --packages-up-to ocs2_legged_robot_ros
colcon build --packages-up-to ocs2_self_collision
  • qpOASES 
    cd ~/ros2_ws/src/quadruped_ros2
git submodule update --init --recursive
    also add below line to the Cmakelist.txt of qpOASES 
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")

2.2 Build OCS2 Quadruped Controller

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

3. Launch

  • Go2 Robot 
    source ~/ros2_ws/install/setup.bash
ros2 launch go2_description ocs2_control.launch.py