# Clone OCS2
git clone [email protected]:leggedrobotics/ocs2.git
# 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
# Clone ocs2_robotic_assets
git clone https://github.com/leggedrobotics/ocs2_robotic_assets.git
# Install dependencies
sudo apt install liburdfdom-dev liboctomap-dev libassimp-dev
# Clone legged_control
git clone [email protected]:qiayuanliao/legged_control.git
# Clone legged_rl
git clone [email protected]:clearlab-sustech/legged_rl.git
# Build legged_rl
catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo
catkin build legged_gazebo legged_unitree_description legged_rl_controllers legged_rl_description
roslaunch legged_rl_description empty_world.launch
roslaunch legged_rl_controllers load_trot_controller.launch
rosservice call /controller_manager/switch_controller "start_controllers: ['controllers/student_policy_controller']
stop_controllers: ['']
strictness: 0
start_asap: false
timeout: 0.0"