Installation

Prerequisites

The legged_control2 library is written in C++. It is tested under Ubuntu 24.04 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 24.04 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/noble-jazzy-amd64/ ./" | sudo tee /etc/apt/sources.list.d/qiayuanl_legged_buildfarm.list
  echo "yaml https://github.com/qiayuanl/legged_buildfarm/raw/noble-jazzy-amd64/local.yaml jazzy" | 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-jazzy-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/noble-jazzy-amd64/ ./" | sudo tee /etc/apt/sources.list.d/qiayuanl_simulation_buildfarm.list
  echo "yaml https://github.com/qiayuanl/simulation_buildfarm/raw/noble-jazzy-amd64/local.yaml jazzy" | sudo tee /etc/ros/rosdep/sources.list.d/1-qiayuanl_simulation_buildfarm.list
  sudo apt-get update
  
  # Install MuJoCo
  sudo apt install ros-jazzy-mujoco-ros2-control
  

Docker

For Ubuntu 18.04, 20.04 and 24.04 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.

Upgrading

To upgrade the legged_control2 and all its dependencies to the latest version:

sudo apt-get update
sudo apt install --only-upgrade 'ros-jazzy-*'

Note

It is important to upgrade all ros-jazzy-* packages together. Upgrading only individual packages (e.g., ros-jazzy-legged-control-base) may leave their dependencies at old versions, causing ABI/API incompatibilities.

Don’t forget to rebuild your colcon workspace after upgrading.

Build from Source

For Ubuntu 24.04 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