OCS2_ROS2 Toolbox

Tested on Ubuntu 22.04 ROS2 Humble.

1 Dependency

• C++ compiler with C++17 support
• Eigen (v3.4)
• Boost C++ (v1.74)
• pinocchio (up-to-date)

2 Installation

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

2.1 Install Dependency

• Eigen

sudo apt update
sudo apt install libeigen3-dev 
sudo ln -s /usr/local/include/eigen3 /usr/include/eigen3
sudo ln -s /usr/local/include/eigen3/Eigen/ /usr/local/include/Eigen

• Pinocchio

Recommended installation

2.3 Clone Repositories

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

cd ~
mkdir -p ocs2_ros2_ws/src

• Clone the repository

cd ~/ocs2_ws/src
git clone https://github.com/Zionshang/ocs2_ros2.git

• build

cd ~/ocs2_ws
colcon build

3 Run Example

• Run the legged robot example

source ~/ocs2_ws/install/setup.bash
ros2 launch ocs2_legged_robot_ros legged_robot_ddp.launch.py