# OCS2_ROS2

**Repository Path**: manlianhhd/OCS2_ROS2

## Basic Information

- **Project Name**: OCS2_ROS2
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-08-13
- **Last Updated**: 2025-08-13

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# OCS2_ROS2 Toolbox

## Summary
OCS2_ROS2 is developed based on [OCS2](https://github.com/leggedrobotics/ocs2), and features that are not supported at the moment:

* ocs2_mpcnet
* ocs2_doc

## Tips
* The OCS2_ROS2 toolbox is supported on Ubuntu 22.04 and ROS2 Humble

## 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 humble or later
* 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
No need for this step,we have added the package in the repository.
```
* 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
```