Installation

OCS2

OCS2 is a huge monorepo; DO NOT try to compile the whole repo. You only need to compile ocs2_legged_robot_ros and its dependencies following the step below.

1. You are supposed to clone the OCS2, pinocchio, and hpp-fcl as described in the documentation of OCS2.

   # 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 the ocs2_legged_robot_ros package with catkin tools instead of catkin_make. It will take you about ten minutes.

   catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo
   catkin build ocs2_legged_robot_ros ocs2_self_collision_visualization
   

   Ensure you can command the ANYmal as shown in the document and below.

Build

Build the source code of legged_control by:

catkin build legged_controllers quake_description

Build the simulation

catkin build legged_gazebo

Quick Start

1. Set your robot type as an environment variable:

   export ROBOT_TYPE=quake_without_arm
   source devel/setup.bash
   

2. Run the simulation:

   roslaunch legged_controllers one_start_gazebo.launch
   

3. load the controller:

    roslaunch legged_controllers load_controller.launch 
   

4. start the controller:

   rostopic pub --once /load_controller std_msgs/Float32 "data: 1.23"
   

5. Set the gait in the terminal of load_controller.launch

   enter "list" in the terminal, then enter "trot"

6. Open another terminal, then enter rqt

7. Find the Robot Steering plugin and control the velocity of the robot in simulaiton. Note the topic name is /cmd_vel

8. You can enter "down" and "stance" in the terminal of load_controller.launch to switch the control mode of the dog