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basic examples

README.md

OCS2 Basic Examples

This folder contains basic examples for the OCS2 library.

1. Double Integrator

  • build
cd ~/ocs2_ws
colcon build --packages-up-to ocs2_double_integrator_ros
  • run
source ~/ocs2_ws/install/setup.bash
ros2 launch ocs2_double_integrator_ros double_integrator.launch.py

2. Cartpole

  • build
cd ~/ocs2_ws
colcon build --packages-up-to ocs2_cartpole_ros
  • run
source ~/ocs2_ws/install/setup.bash
ros2 launch ocs2_cartpole_ros cartpole.launch.py

3. Ballbot

  • build
cd ~/ocs2_ws
colcon build --packages-up-to ocs2_ballbot_ros
  • run
source ~/ocs2_ws/install/setup.bash
ros2 launch ocs2_ballbot_ros ballbot_ddp.launch.py

4. Quadrotor

  • build
cd ~/ocs2_ws
colcon build --packages-up-to ocs2_quadrotor_ros
  • run
source ~/ocs2_ws/install/setup.bash
ros2 launch ocs2_quadrotor_ros quadrotor.launch.py

5. Mobile Manipulator

  • build
cd ~/ocs2_ws
colcon build --packages-up-to ocs2_mobile_manipulator_ros
  • run Mabi-Mobile
source ~/ocs2_ws/install/setup.bash
ros2 launch ocs2_mobile_manipulator_ros manipulator_mabi_mobile.launch.py
  • run Kinova Jaco2
source ~/ocs2_ws/install/setup.bash
ros2 launch ocs2_mobile_manipulator_ros manipulator_kinova_j2n6.launch.py
  • run Franka Panda
source ~/ocs2_ws/install/setup.bash
ros2 launch ocs2_mobile_manipulator_ros manipulator_franka.launch.py
  • run Willow Garage PR2
source ~/ocs2_ws/install/setup.bash
ros2 launch ocs2_mobile_manipulator_ros manipulator_pr2.launch.py
  • run Clearpath Ridgeback with UR-5
source ~/ocs2_ws/install/setup.bash
ros2 launch ocs2_mobile_manipulator_ros manipulator_ridgeback_ur5.launch.py

6. Legged Robot

  • build
cd ~/ocs2_ws
colcon build --packages-up-to ocs2_legged_robot_ros
  • run
source ~/ocs2_ws/install/setup.bash
ros2 launch ocs2_legged_robot_ros legged_robot_ddp.launch.py