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docs: clarify ros versions

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fan-ziqi 2025-01-18 10:54:26 +08:00
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README.md
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[中文文档](README_CN.md)
**Version Select: [ROS-Noetic](https://github.com/fan-ziqi/rl_sar/tree/main) | [ROS2-Foxy](https://github.com/fan-ziqi/rl_sar/tree/ros2)**
**Version Select: [ROS-Noetic](https://github.com/fan-ziqi/rl_sar/tree/main) | [ROS2-Foxy/Humble](https://github.com/fan-ziqi/rl_sar/tree/ros2)**
This repository provides a framework for simulation verification and physical deployment of robot reinforcement learning algorithms, suitable for quadruped robots, wheeled robots, and humanoid robots. "sar" stands for "simulation and real"
feature:
- Support legged_gym based on IsaacGym and IsaacLab based on IsaacSim. Use `framework` to distinguish.
- The code has two versions: **ROS** and **ROS2**
- The code has two versions: **ROS-Noetic** and **ROS2-Foxy/Humble**
- The code supports both cpp and python, you can find python version in `src/rl_sar/scripts`
> [!NOTE]
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## Dependency
This project uses `ros2-foxy` (Ubuntu 20.04) and requires the installation of the following ROS dependency packages:
This project uses `ros2-foxy` (Ubuntu 20.04) or `ros2-humble` (Ubuntu22.04) and requires the installation of the following ROS dependency packages:
```bash
sudo apt install ros-$ROS_DISTRO-teleop-twist-keyboard ros-$ROS_DISTRO-ros2-control ros-$ROS_DISTRO-ros2-controllers ros-$ROS_DISTRO-control-toolbox ros-$ROS_DISTRO-robot-state-publisher ros-$ROS_DISTRO-joint-state-publisher-gui ros-$ROS_DISTRO-gazebo-ros2-control ros-$ROS_DISTRO-gazebo-ros-pkgs ros-$ROS_DISTRO-xacro

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README_CN.md
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[English document](README.md)
**版本选择: [ROS-Noetic](https://github.com/fan-ziqi/rl_sar/tree/main) | [ROS2-Foxy](https://github.com/fan-ziqi/rl_sar/tree/ros2)**
**版本选择: [ROS-Noetic](https://github.com/fan-ziqi/rl_sar/tree/main) | [ROS2-Foxy/Humble](https://github.com/fan-ziqi/rl_sar/tree/ros2)**
本仓库提供了机器人强化学习算法的仿真验证与实物部署框架，适配四足机器人、轮足机器人、人形机器人。"sar"代表"simulation and real"
特性：
- 支持基于IsaacGym的legged_gym，也支持基于IsaacSim的IsaacLab，用`framework`加以区分。
- 代码有**ROS**和**ROS2**两个版本
- 代码有**ROS-Noetic**和**ROS2-Foxy/Humble**两个版本
- 代码有python和cpp两个版本，python版本可以在`src/rl_sar/scripts`中找到
> [!NOTE]
@ -26,7 +26,7 @@ git clone -b ros2 https://github.com/fan-ziqi/rl_sar.git
## 依赖
本项目使用`ros2-foxy`(Ubuntu20.04)，且需要安装以下的ros依赖包
本项目使用`ros2-foxy`(Ubuntu20.04)或`ros2-humble`(Ubuntu22.04)，且需要安装以下的ros依赖包
```bash
sudo apt install ros-$ROS_DISTRO-teleop-twist-keyboard ros-$ROS_DISTRO-ros2-control ros-$ROS_DISTRO-ros2-controllers ros-$ROS_DISTRO-control-toolbox ros-$ROS_DISTRO-robot-state-publisher ros-$ROS_DISTRO-joint-state-publisher-gui ros-$ROS_DISTRO-gazebo-ros2-control ros-$ROS_DISTRO-gazebo-ros-pkgs ros-$ROS_DISTRO-xacro