ocs2安装

ocs2下载过程中，网络老是断开。

参考资料：

OCS2安装 - 知乎

OCS2安装以及Hunter双足机器人仿真环境配置 - 知乎

Installation — OCS2 1.0.0 documentation

1、学习到方法：

当前网络环境下，git clone老是出错，使用浏览器打开https://github/com/leggedrobotics/ocs2,使用download下载源码。

可以根据github网站的箭头观看文件夹包含其他链接，需要单独下载。有个箭头图标

2、使用github上的issues去查找编译的问题

3、   编译时如果ocs2_doc、ocs2_perceptive_anymal文件夹报错，可删除后再编译，有些东西实在编译不过，就删除源码（主要是doc、exam不是必须的。）否则，需要查看git 的版本。可能需要更新到最新。

一：创建工作空间并克隆OCS2

mkdir -p ~/ocs2_ws/src
cd ~/ocs2_ws/src
git clone https://github.com/leggedrobotics/ocs2.git

二：安装相关依赖包和依赖库

• C++ compiler with C++11 support
• Eigen (v3.3)

sudo apt-get update
sudo apt-get install libeigen3-dev

• Boost C++ (v1.71)

1.从 Boost 的官方网站下载 1.71.0 版本的源代码压缩包，并解压到适当的目录

wget https://boostorg.jfrog.io/artifactory/main/release/1.71.0/source/boost_1_71_0.tar.bz2
tar --bzip2 -xf boost_1_71_0.tar.bz2

2.进入解压后的目录，并开始准备构建 Boost

cd boost_1_71_0
./bootstrap.sh

3.安装 Boost

sudo ./b2 install

• GLPK

sudo apt install libglpk-dev

• catkin sudo apt-get install catkin
• pybind11_catkin, ROS package, installable via sudo apt install ros-noetic-pybind11-catkin
• catkin-pkg package for python3. Install with sudo apt install python3-catkin-tools
• Doxygen for documentation. Install with sudo apt install doxygen doxygen-latex
• rqt_multiplot. Install withsudo apt-get install ros-noetic-rqt-multiplot
• Grid Map. Install with sudo apt install ros-noetic-grid-map
• Pinocchio and HPP-FCL

cd ~/ocs2_ws/src
# Clone pinocchio
git clone --recurse-submodules https://github.com/leggedrobotics/pinocchio.git
# Clone hpp-fcl
git clone --recurse-submodules https://github.com/leggedrobotics/hpp-fcl.git
# install dependencies
sudo apt install liburdfdom-dev liboctomap-dev libassimp-dev

• ocs2_robotic_assets

cd ~/ocs2_ws/src
# Clone ocs2_robotic_assets
git clone https://github.com/leggedrobotics/ocs2_robotic_assets.git

• RaiSim

1.克隆RaiSim

cd ~/ocs2_ws/src
git clone https://github.com/raisimTech/raisimLib.git

2.将以下行添加到 ~/.bashrc 文件中

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:~/ocs2_ws/src/raisim/linux/lib
export PYTHONPATH=$PYTHONPATH:~/ocs2_ws/src/raisim/linux/lib

• ONNX Runtime

cd /tmp
wget https://github.com/microsoft/onnxruntime/releases/download/v1.7.0/onnxruntime-linux-x64-1.7.0.tgz
tar xf onnxruntime-linux-x64-1.7.0.tgz
mkdir -p ~/.local/bin ~/.local/include/onnxruntime ~/.local/lib ~/.local/share/cmake/onnxruntime
rsync -a /tmp/onnxruntime-linux-x64-1.7.0/include/ ~/.local/include/onnxruntime
rsync -a /tmp/onnxruntime-linux-x64-1.7.0/lib/ ~/.local/lib
rsync -a ~/ocs2_ws/src/ocs2/ocs2_mpcnet/ocs2_mpcnet_core/misc/onnxruntime/cmake/ ~/.local/share/cmake/onnxruntime

tips:暂时不需要Virtual environments

三：编译并测试

编译

cd ~/ocs2_ws
catkin init
catkin config --extend /opt/ros/noetic
catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo
catkin build

source环境

source ~/ocs2_ws/devel/setup.bash

测试

roslaunch ocs2_legged_robot_ros legged_robot_ddp.launch

Tips

• 若编译过程中出现因网络原因下载失败的库，可自行下载后放在src文件夹中后再次编译
• 编译时如果ocs2_doc、ocs2_perceptive_anymal文件夹报错，可删除后再编译