# ocs2_ros2

**Repository Path**: Sytx_1/ocs2_ros2

## Basic Information

- **Project Name**: ocs2_ros2
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: ros2
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-04-19
- **Last Updated**: 2025-04-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# OCS2_ROS2 Toolbox

## 1. Summary

OCS2_ROS2 is developed based on [OCS2](https://github.com/leggedrobotics/ocs2), it was refactored to be compatible with
ROS2 and modern cmake. Below is the current todolist of the project:

- [x] modern cmake
- [x] basic 6 examples in official documents
- [x] WSL2 support
- [x] Fix Quadrotor example's unexpected behavior
- [x] Fix Mobile Manipolator's interactive marker
- [x] perceptive locomotion demo
- [x] tinyxml2 problem in Ubuntu 24.04 ROS2 Jazzy
- [x] raisim demo
- [x] mpc_net demo
- [x] **[2025-01-16]** Pinnochio 3 support, removed hpp-fcl dependency
- [x] **[2025-03-20]** Add forked Gridmap SDF

The IDE I used is CLion, you can follow the [guide](https://www.jetbrains.com/help/clion/ros2-tutorial.html) to set up
the IDE.

Below is my tested platform:

* Intel Nuc X15 (i7-11800H):
    * Ubuntu 22.04 ROS2 Humble (WSL2)
    * Ubuntu 24.04 ROS2 Jazzy
* Lenovo P16v (i7-13800H):
    * Ubuntu 24.04 ROS2 Jazzy
* Jetson Orin Nano
    * Ubuntu 22.04 ROS2 Humble (JetPack 6.1)

## 2. Installation

### 2.1 Prerequisites

The OCS2 library is written in C++17. It is tested under Ubuntu with library versions as provided in the package
sources.

Tested system and ROS2 version:

* Ubuntu 24.04 ROS2 Jazzy
* Ubuntu 22.04 ROS2 Humble

### 2.2 Dependencies

* C++ compiler with C++17 support
* Eigen (v3.4)
* Boost C++ (v1.74)
* [Pinocchio](https://stack-of-tasks.github.io/pinocchio/download.html)

> **Warm Reminder**: Please follow the guide in the link to install Pinocchio before building the project

### 2.3 Clone Repositories

* Create a new workspace or clone the project to your workspace

```bash
cd ~
mkdir -p ros2_ws/src
```

* Clone the repository

```bash
cd ~/ros2_ws/src
git clone https://github.com/legubiao/ocs2_ros2
cd ocs2_ros2
git submodule update --init --recursive
```

* rosdep

```bash
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
```

### 2.4 [Basic Examples](basic%20examples/)

Quick start guide:

* Compile legged robot example
    ```bash
    cd ~/ros2_ws
    colcon build --packages-up-to ocs2_legged_robot_ros --symlink-install
    ```
* Run the legged robot example
    ```bash
    source ~/ros2_ws/install/setup.bash
    ros2 launch ocs2_legged_robot_ros legged_robot_ddp.launch.py
    ```

![legged_robot](.images/legged_demo.png)

[![](http://i0.hdslb.com/bfs/archive/1bf12ba98ed8e7fe01594bb2a713ddafdd580488.jpg)](https://www.bilibili.com/video/BV12vv9eGEns/)

## 3. Advanced Examples

[![](http://i1.hdslb.com/bfs/archive/a53bab50141165eb452aa0763a9a5b9a51a7ca67.jpg)](https://www.bilibili.com/video/BV1gSHLe3EEv/)

### 3.1 [Perceptive Locomotion](advance%20examples/ocs2_perceptive_anymal/)

![perceptive_side](.images/perception_side.png)

![perceptive_hurdles](.images/perception_hurdles.png)

### 3.2 [RaiSim Simulation](advance%20examples/ocs2_raisim/)

![raisim](.images/raisim.png)

![raisim_rviz](.images/raisim_rviz.png)

### 3.3 [MPC-Net](advance%20examples/ocs2_mpcnet/)