legged_control

Installation

0. Source code

The source code is hosted on GitHub: legged_control.

1. Clone repositories

# legged_control
git clone [email protected]:LianzhaoZhang/legged_control.git

# Clone OCS2
git clone [email protected]:leggedrobotics/ocs2.git

# Clone pinocchio
git clone --recurse-submodules https://github.com/leggedrobotics/pinocchio.git

# Clone hpp-fcl
git clone --recurse-submodules https://github.com/leggedrobotics/hpp-fcl.git

# Clone ocs2_robotic_assets
git clone https://github.com/leggedrobotics/ocs2_robotic_assets.git

# Install dependencies
sudo apt install liburdfdom-dev liboctomap-dev libassimp-dev

2. Compile

Compile the code with catkin tools instead of catkin_make. It will take you about ten minutes.

catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo
catkin build -j$(nproc) legged_control

3. Quick Start

1. Run the simulation:

   roslaunch legged_unitree_description empty_world.launch
   

   NOTE: The hardware interface is not available

2. Load the controller:

   roslaunch legged_controllers load_controller.launch
   

3. Start the legged_controller using rqt_controller_manager GUI:

   sudo apt install ros-noetic-rqt-controller-manager
   rosrun rqt_controller_manager rqt_controller_manager