ocs2_fun

ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox. Why? Because it's fun.

If you are interested in more controllers, check out this other project.

Showcase

anymal.mp4

spot.mp4

Installation

# Clone this repository
git clone --recursive [email protected]:projectatctu/ocs2_fun.git

# Install dependencies
rosdep install --from-paths src --ignore-src -r -y

# Set build type - we recommend Release mode
catkin config -DCMAKE_BUILD_TYPE=Release

# Build
catkin build

Worldgen

rosrun ocs2_gazebo world generate_world.py