legged_rl

---

install

---

ocs2

# Clone OCS2
git clone git@github.com:leggedrobotics/ocs2.git

# Clone pinocchio
git clone --recurse-submodules https://github.com/leggedrobotics/pinocchio.git

# Clone hpp-fcl
git clone --recurse-submodules https://github.com/leggedrobotics/hpp-fcl.git

# Clone ocs2_robotic_assets
git clone https://github.com/leggedrobotics/ocs2_robotic_assets.git

# Install dependencies
sudo apt install liburdfdom-dev liboctomap-dev libassimp-dev

legged_control

# Clone legged_control
git clone git@github.com:qiayuanliao/legged_control.git

legged_rl

# Clone legged_rl
git clone git@github.com:clearlab-sustech/legged_rl.git
# Build legged_rl
catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo
catkin build legged_gazebo legged_unitree_description legged_rl_controllers legged_rl_description

Run

---

Terminal 1

roslaunch legged_rl_description empty_world.launch

Terminal 2

roslaunch legged_rl_controllers load_trot_controller.launch

rosservice call /controller_manager/switch_controller "start_controllers: ['controllers/student_policy_controller']                   
stop_controllers: ['']
strictness: 0
start_asap: false
timeout: 0.0" 

Trouble Shooting

gazebo11 build google::protobuf error

Solution: install v3.20.3. Better download protoc-3.20.3-linux-x86_64.zip in https://github.com/protocolbuffers/protobuf/releases?page=4 and use the copy&paste way

onnxruntime build error

onnxruntime c++ should be installed first. Then comment all the "GetIntputName" and "GetOutputName"

1. ./build.sh --config RelWithDebInfo --build_shared_lib --parallel
2. cd build/Linux/RelWithDebInfo
3. sudo make install

referecce: https://blog.csdn.net/Fenplan/article/details/116742180 https://blog.51cto.com/u_15699099/5649211