legged_control

I haven't had time to write the documentation yet. But I tried my best to keep the whole testing process as simple as possible. And did not change the code of ocs2 itself.

Build

• ocs2 is a huge monorepo, you just need to compile ocs2_legged_robot_ros and its dependencies!
• If you only run simulation, you do not need to compile unitree_hw;

Quick Start

1. Set your robot type(a1 or aliengo) as an environment variable: ROBOT_TYPE

export ROBOT_TYPE=a1

2. Run the simulation:

roslaunch unitree_description empty_world.launch

3. Load the controller:

roslaunch legged_controllers load_controller.launch

4. You can start the controller using rqt_controller_manager

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

5. Start the legged_controller or legged_cheater_controller, NOTE that you are not allowed to start the legged_cheater_controller in real hardware!

6. Set the gait in the terminal of load_controller.launch, then use RViz and other tools to control the robot

Statistics

The table below shown lab succefully deploy this repo in their real A1 | Lab | Spend Time | | ---- | ---- | | XPeng Robotics | 1 day | | Unitree | - | | Geely Auto | 3 hours | | Hybrid Robotics | 2 hours |