OCS2_ROS2 is developed based on OCS2, and features that are not supported at the moment:
- ocs2_mpcnet
- ocs2_doc
The OCS2 library is written in C++17. It is tested under Ubuntu 22.04 with library versions as provided in the package sources.
- 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