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