OCS2_ROS2 Toolbox

1. Summary

OCS2_ROS2 is developed based on OCS2, it was refactored to be compatible with ROS2 and modern cmake.

What's New (2025.08)

Pinocchio 3 Dependency Optimization

• Upgraded to Pinocchio 3 version for better performance and stability
• Support for installing Pinocchio from ROS sources, avoiding complex third-party package management

Dual-Arm Mobile Manipulator Support

• Added Dual-Arm Mobile Manipulator functionality
• Enhanced interactive markers for better user operation experience

The IDE I used is CLion, you can follow the guide to set up the IDE.

Tested Platform

• Intel Nuc X15 (i7-11800H):
  • Ubuntu 22.04 ROS2 Humble (WSL2 included)
  • Ubuntu 24.04 ROS2 Jazzy (WSL2 included)
• 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)

Note: Latest version used pinocchio from ros source to simplified install steps. If you install pinocchio from robot-pkgs, you can uninstall it by

sudo apt remove robotpkg-*

2.3 Clone Repositories

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

cd ~
mkdir -p ros2_ws/src

• Clone the repository

cd ~/ros2_ws/src
git clone https://github.com/legubiao/ocs2_ros2
cd ocs2_ros2
git submodule update --init --recursive

• rosdep

cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y

3. Basic Examples

This section contains basic examples for the OCS2 library.

3.1 Double Integrator

🎯 Click to expand Double Integrator example

• build

cd ~/ros2_ws
colcon build --packages-up-to ocs2_double_integrator_ros --symlink-install

• run

source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_double_integrator_ros double_integrator.launch.py

double_interger.webm

3.2 Cartpole

🛒 Click to expand Cartpole example

• build

cd ~/ros2_ws
colcon build --packages-up-to ocs2_cartpole_ros --symlink-install

• run

source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_cartpole_ros cartpole.launch.py

cart.pole.webm

3.3 Ballbot

🏀 Click to expand Ballbot example

• build

cd ~/ros2_ws
colcon build --packages-up-to ocs2_ballbot_ros --symlink-install

• run

source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_ballbot_ros ballbot_ddp.launch.py

ballbot.webm

3.4 Quadrotor

🚁 Click to expand Quadrotor example

• build

cd ~/ros2_ws
colcon build --packages-up-to ocs2_quadrotor_ros --symlink-install

• run

source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_quadrotor_ros quadrotor.launch.py

quadrotor.webm

3.5 Mobile Manipulator

🦾 Click to expand Mobile Manipulator example

• build

cd ~/ros2_ws
colcon build --packages-up-to ocs2_mobile_manipulator_ros --symlink-install

• run Mabi-Mobile

source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_mobile_manipulator_ros manipulator_mabi_mobile.launch.py

mabi-mobile.webm

• run Kinova Jaco2

source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_mobile_manipulator_ros manipulator_kinova_j2n6.launch.py

• run Franka Panda

source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_mobile_manipulator_ros franka.launch.py

franka.webm

• run Willow Garage PR2

source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_mobile_manipulator_ros pr2.launch.py

pr2.webm

• run Clearpath Ridgeback with UR-5

source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_mobile_manipulator_ros manipulator_ridgeback_ur5.launch.py 

3.6 Legged Robot

🐕 Click to expand Legged Robot example

• build

cd ~/ros2_ws
colcon build --packages-up-to ocs2_legged_robot_ros --symlink-install

• run

source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_legged_robot_ros legged_robot_ddp.launch.py

trot.webm

4. Advanced Examples

4.1 Perceptive Locomotion

4.2 RaiSim Simulation

4.3 MPC-Net

5. Related Projects

• quadruped ros2 control： Quadruped controller based on OCS2 ROS2
• arms ro2 control: Mobile manipulator controller based on OCS2 ROS2
• robot_descriptions: More robot configs for OCS2 ROS2