Installation

Prerequisites

The legged_control2 library is written in C++. It is tested under Ubuntu 22.04 with library versions as provided in the package sources.

Source code

The source code is hosted on GitHub: qiayuanl/legged_control2.

# Clone legged_control2
git clone git@github.com:qiayuanl/legged_control2.git

Installation

Debian Source (recommended)

For Ubuntu 22.04 user, you can directly install the legged_control2 from the apt source.

• Basic packages:

  # Add apt source
  echo "deb [trusted=yes] https://github.com/qiayuanl/legged_buildfarm/raw/jammy-humble-amd64/ ./" | sudo tee /etc/apt/sources.list.d/qiayuanl_legged_buildfarm.list
  echo "yaml https://github.com/qiayuanl/legged_buildfarm/raw/jammy-humble-amd64/local.yaml humble" | sudo tee /etc/ros/rosdep/sources.list.d/1-qiayuanl_legged_buildfarm.list
  sudo apt-get update
  
  # Instsall basic packages
  sudo apt-get install ros-humble-legged-control-base
  

• Simulation packages (Do not install in robot’s on-board computer):

  # Add apt source
  echo "deb [trusted=yes] https://github.com/qiayuanl/simulation_buildfarm/raw/jammy-humble-amd64/ ./" | sudo tee /etc/apt/sources.list.d/qiayuanl_simulation_buildfarm.list
  echo "yaml https://github.com/qiayuanl/simulation_buildfarm/raw/jammy-humble-amd64/local.yaml humble" | sudo tee /etc/ros/rosdep/sources.list.d/1-qiayuanl_simulation_buildfarm.list
  sudo apt-get update
  
  # Install MuJoCo
  sudo apt install ros-humble-mujoco-ros2-control
  

Docker

For Ubuntu 18.04 and 20.04 users, especially for Unitree on-board computers, you should use Docker.

We have pre-built Docker images for different specific robots. You can pull the image from Docker Hub. For more details, please refer to the TODO.

Build from Source

For Ubuntu 22.04 users, you can build from source.

• Create a new colcon workspace:

  mkdir -p ~/colcon_ws/src && cd ~/colcon_ws/src
  

• Clone the source code:

  git clone git@github.com:qiayuanl/legged_control2.git && cd ..
  

• Install dependencies:

  rosdep install --from-paths src --ignore-src -r -y
  

• Build the workspace:

  colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelwithDebInfo --packages-up-to legged_controllers