OCS2_ROS2 Toolbox 1. Summary OCS2_ROS2 is developed based on OCS2, it was refactored to be compatible with ROS2 and modern cmake. Below is the current todolist of the project: modern cmake basic 6 examples in official documents WSL2 support Fix Quadrotor example's unexpected behavior ...
I noticed that this project is forked fromzhengxiang94/ocs2_ros2:ros2. However, when I ran the original repository on my machine (Ubuntu 22.04 with ROS 2 Humble), it performed very slowly and consistently produced the warning: WARNING: The solution time window might be shorter than the MPC...
source ~/ros2_ws/install/setup.bash ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=go2_description ``` ``` At the first launch, controller may compile the OCS2 model and generate the shared library. The compilation process may take a few minutes. After the comp...
@@ -36,9 +36,9 @@ Video for OCS2 Quadruped Controller: ``` ### 1.1 Mujoco Simulator Please use this [Mujoco Simulation](hardwares/hardware_unitree_mujoco) for more robot models and contact sensor. Please use this [Mujoco Simulation](https://github.com/legubiao/unitree_mujoco) for more...
12 changes: 10 additions & 2 deletions12README.md Original file line numberDiff line numberDiff line change Expand Up@@ -34,18 +34,23 @@ Video for OCS2 Quadruped Controller: ``` *Compile the package ```bash colcon build --packages-up-to unitree_guide_controller go2_description keyboard...
ocs2_quadruped_controller: ros__parameters: - update_rate: 500 # Hz + update_rate: 100 # Hz default_kd: 8.0 diff --git a/descriptions/unitree/go1_description/config/robot_control.yaml b/descriptions/unitree/go1_description/config/robot_control.yaml index 0ebfd6b..d6f4b1f 100644 --- ...
@@ -35,6 +36,10 @@ Video for OCS2 Quadruped Controller: ``` ### 1.1 Mujoco Simulator Please use this [Mujoco Simulation](hardwares/hardware_unitree_mujoco) for more robot models and contact sensor. > **Warning:** CycloneDDS ROS2 RMW may conflict with unitree_sdk2. If you cannot la...