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
• Fix Mobile Manipolator's interactive marker
• perceptive locomotion demo
• tinyxml2 problem in Ubuntu 24.04 ROS2 Jazzy
• raisim demo
• mpc_net demo

The IDE I used is CLion, you can follow the guide 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)

2.3 Clone Repositories

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

cd ~
mkdir -p ocs2_ws/src

• Clone the repository

cd ~/ocs2_ws/src
git clone https://github.com/legubiao/ocs2_ros2
git submodule update --init --recursive

• rosdep

cd ~/ocs2_ws
rosdep install --from-paths src --ignore-src -r -y

2.4 Basic Examples

Quick start guide:

• Compile legged robot example

  cd ~/ocs2_ws
  colcon build --packages-up-to ocs2_legged_robot_ros

• Run the legged robot example

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

3. Advanced Examples

3.1 Perceptive Locomotion

3.2 RaiSim Simulation

3.3 MPC-Net