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OCS2_ROS2 Toolbox

Summary

OCS2_ROS2 is developed based on OCS2, and features that are not supported at the moment:

  • ocs2_mpcnet
  • ocs2_doc

Installation

Prerequisites

The OCS2 library is written in C++17. It is tested under Ubuntu 22.04 with library versions as provided in the package sources.

Dependencies

  • C++ compiler with C++17 support
  • ros2 iron
  • Eigen (v3.4)
  • Boost C++ (v1.74)
  • For rigid multi-body dynamics library and self collision support clone Pinocchio and HPP-FCL into your workspace
# install pinocchio
git clone --recurse-submodules https://github.com/zhengxiang94/pinocchio.git
# install hpp-fcl
git clone --recurse-submodules https://github.com/zhengxiang94/hpp-fcl.git
  • For various robotic assets used in OCS2 unit tests and the robotic examples
# Clone ocs2_robotic_assets in ros2_ws/src
git clone https://github.com/zhengxiang94/ocs2_robotic_assets.git
  • plane_segmentation_ros2
# Clone plane_segmentation_ros2 in ros2_ws/src
git clone https://github.com/zhengxiang94/plane_segmentation_ros2.git
  • others
sudo apt-get install ros-iron-grid-map-cv ros-iron-grid-map-msgs ros-iron-grid-map-ros ros-iron-grid-map-sdf libmpfr-dev libpcap-dev libglpk-dev