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rl_quadruped_controller package from quadruped_ros2_control repo

control_input_msgs joystick_input keyboard_input unitree_joystick_input leg_pd_controller ocs2_quadruped_controller rl_quadruped_controller unitree_guide_controller anymal_c_description lite3_description x30_description cyberdog_description magicdog_description a1_description aliengo_description b2_description go1_description go2_description gz_quadruped_hardware hardware_unitree_sdk2 controller_common gz_quadruped_playground qpoases_colcon

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Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2-Control implementations for Quadruped robots, include sim2real
Checkout URI	https://github.com/legubiao/quadruped_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-24
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A Quadruped robot controller relied on .pt RL network

Additional Links

No additional links.

Maintainers

Huang Zhenbiao

Authors

No additional authors.

controllers/rl_quadruped_controller/README.md

RL Quadruped Controller

This repository contains the reinforcement learning based controllers for the quadruped robot.

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy
Ubuntu 22.04
- ROS2 Humble

2. Build

2.1 Installing libtorch

You can also choose libtorch with cuda. Just remember to download for c++ 11 ABI version. The position to place libtorch is also not fixed, just need to config the .bashrc.

cd ~/CLionProjects/
wget https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-2.5.0%2Bcpu.zip
unzip libtorch-cxx11-abi-shared-with-deps-2.5.0+cpu.zip

cd ~
rm -rf libtorch-cxx11-abi-shared-with-deps-2.5.0+cpu.zip
echo 'export Torch_DIR=~/libtorch' >> ~/.bashrc
echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:~/libtorch/lib' >> ~/.bashrc

2.2 Build Controller

cd ~/ros2_ws
colcon build --packages-up-to rl_quadruped_controller --symlink-install

3. Launch

3.1 Mujoco Simulation

Warm Reminder: You need to launch Unitree Mujoco C++ Simulation before launch the controller.

source ~/ros2_ws/install/setup.bash
ros2 launch rl_quadruped_controller mujoco.launch.py pkg_description:=go2_description

3.2 Gazebo Harmonic

source ~/ros2_ws/install/setup.bash
ros2 launch rl_quadruped_controller gazebo.launch.py pkg_description:=go2_description

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	controller_common
	backward_ros
	controller_interface
	pluginlib
	control_input_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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API Docs Browse Code

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