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qiayuanl / legged_control

Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls
BSD 3-Clause "New" or "Revised" License
882 stars 221 forks source link

How do you apply ocs2 to the real AlienGo? #2

Closed skywoodsz closed 2 years ago

skywoodsz commented 2 years ago

Hi, it's an amazing project. OCS2 is a useful mpc tool, but it requires ubuntu2004. I tried to run it on ubuntu1604 but failed. It looks like OCS2 only works on ubuntu2004. However, the mini-computer system on AlienGo is ubuntu1604. May I ask how you run your project on the real AlienGo? Can you give me some suggestions？ Thanks!

qiayuanl commented 2 years ago

Using 18.04 or even 16.04 is highly not recommended!

Whether it is in A1 or AlienGo, you only need to connect the computer(NUC or your laptop) through a network cable and configure the computer IP to 192.168.123.1XX, then run unitree_hw, and you can command the robot as in the simulation, you don't need to care about the native computer with very poor performance on the robot itself

More than four different labs have deployed the code on their real A1. If you can run aliengo in simulation (I believe the only thing you need to do is generate the URDF file of AlienGo), you will run on real hardware successfully, good luck!

skywoodsz commented 2 years ago

Thanks for your advice. I will give you feedback after trying it. Thanks!