MPC planner for WoLF based on ocs2.
This work is based on ocs2_legged_robot and legged_control from qiayuanl.
Install the required dependencies and clone the necessary repos in a catkin workspace:
# Install dependencies
sudo apt install liburdfdom-dev liboctomap-dev libassimp-dev ros-${ROS_DISTRO}-pinocchio ros-${ROS_DISTRO}-hpp-fcl libmpfr-dev
# Clone OCS2
git clone git@github.com:graiola/ocs2.git
# Clone ocs2_robotic_assets
git clone https://github.com/graiola/ocs2_robotic_assets.git
Compile only the necesary ocs2 packages:
catkin build ocs2_sphere_approximation ocs2_legged_robot_ros ocs2_self_collision_visualization -DCMAKE_BUILD_TYPE=Release
For the wolf dependencies please refer to wolf-setup.
If you want to use a different robot you need first to generate the urdf model for it. For example, with spot:
rosrun wolf_description_utils create_urdf_model.sh -r spot -d /tmp/wolf_planner
launch the wolf_planner and the wolf_controller with:
roslaunch wolf_planner launch_planner.launch
Stand up the robot by pressing Enter on the virtual keyboard or by using the RVIZ Wolf panel. Once the robot is up, change the control mode to EXT by pressing Spacebar on the virtual keyboard. At this point, the MPC will be connected with the whole-body controller and ready to use. To move the robot around, use the virtual keyboard. You can use the terminal commands to change the gait; use the list command to see what available gaits are.