1 Dependency

1. qpOASES
2. ocs2_ros2
3. mujoco

2 Installation

2.1 Install Dependency

2.1.1 qpOASES

git clone https://github.com/coin-or/qpOASES.git
mkdir build
cd build
cmake -DCMAKE_POSITION_INDEPENDENT_CODE=ON ..
make
sudo make install

option -DCMAKE_POSITION_INDEPENDENT_CODE=ON is necessary. If you already installed qpOASES without this option, you need to reinstall it

2.1.2 ocs2_ros2

Installation

2.1.3 mujoco

mujoco should be installed by building from source.

1. Clone the mujoco repository:

git clone https://github.com/deepmind/mujoco.git

2. Cd in mujoco path, reate a new build directory and cd into it:

cd mujoco
mkdir build && cd build

3. Configure the build, build and install

cmake ..
make
sudo make install

2.2 Install Project

1. Clone repository:

mkdir -p mujoco_ocs2_ros2_ws/src
cd src
git clone https://github.com/Zionshang/mujoco_ocs2_quadruped_controller.git

2. Cd in ros workspace and build

cd mujoco_ocs2_ros2_ws
colcon build

3 Run Example

1. Open a terminal to launch the mujoco emulator

ros2 launch mujoco_simulator mujoco.launch.py

2. Open a terminal to run controller

ros2 launch ocs2_quadruped_controller controller.launch.py

3. Enter the control command in the terminal that receives the keyboard command

r,f : control body height
1   : stance gait
2   : trot gait
3   : walk trot gait
4   : fly trot gait
w,a,b,d : linear velocity control
j,l : yaw velocity control