rl_deploy

Use ros_control to realize sim2sim in gazebo and sim2real

Many thanks to DirectDriveTech-DDT[https://github.com/DirectDriveTech-DDT] for the guidance and hardware provided for this project

Frame

• rl_sdk mainly refers to https://github.com/fan-ziqi/rl_sar and uses libtorch to complete the loading of .pt files.

• rl_msgs ：For interaction between rl_sdk and rl_controller

• wheeled_bipedal_rl_controller：use ros_control to interact with gazebo

Install

• ros_control

sudo apt install ros-noetic-teleop-twist-keyboard ros-noetic-controller-interface  ros-noetic-gazebo-ros-control ros-noetic-joint-state-controller ros-noetic-effort-controllers ros-noetic-joint-trajectory-controller
sudo apt-get install ros-noetic-imu*

• libtorch

wget https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-2.0.1%2Bcpu.zip
unzip libtorch-cxx11-abi-shared-with-deps-2.0.1+cpu.zip -d ./
echo 'export Torch_DIR=/path/to/your/torchlib' >> ~/.bashrc

• yaml-cpp

git clone https://github.com/jbeder/yaml-cpp.git
cd yaml-cpp && mkdir build && cd build
cmake -DYAML_BUILD_SHARED_LIBS=on .. && make
sudo make install
sudo ldconfig

Run

mon launch diablo load_gazebo.launch
mon launch diablo load_controllers.launch
mon launch diablo load_rl_interface.launch

Reference code

Thank very much for these excellent open source projects！

• Very good sim2sim code reference：

https://github.com/fan-ziqi/rl_sar

• Top ros_control use cases

https://github.com/qiayuanl/legged_control
https://github.com/rm-controls/rm_control