OCS2_ROS2 Toolbox

1. Summary

OCS2_ROS2 is developed based on OCS2, it was refactored to be compatible with ROS 2 and modern cmake. (Forked from legubiao/ocs2_ros2)

Version History

2025.11 (forked repo wei-hsuan-cheng/ocs2_ros2)

Multiple Target Mode for Mobile Manipulator

• Marker target mode: interactive marker for end-effector pose tracking.
• Twist target mode: end-effector twist tracking via pose forward propagation.
• Trajectory target mode: end-effector trajectory tracking (time-parameterized path).

Fixed small bugs

2025.08 (original repo legubiao/ocs2_ros2)

Tested Platforms

• Intel Nuc X15 (i7-11800H):
  • Ubuntu 22.04 ROS 2 Humble (WSL2 included)
  • Ubuntu 24.04 ROS 2 Jazzy (WSL2 included)
• Lenovo P16v (i7-13800H):
  • Ubuntu 24.04 ROS 2 Jazzy
• Jetson Orin Nano
  • Ubuntu 22.04 ROS 2 Humble (JetPack 6.1)
• VM on MacBook Pro with M2 (arm64)
  • Ubuntu 22.04 ROS 2 Humble

2. Installation

2.1 Prerequisites

The OCS2 library is written in C++17. It is tested under Ubuntu with library versions as provided in the package sources.

Tested system and ROS 2 version:

• Ubuntu 24.04 ROS 2 Jazzy
• Ubuntu 22.04 ROS 2 Humble

2.2 Dependencies

• C++ compiler with C++17 support
• Eigen (v3.4)
• Boost C++ (v1.74)

Note: Latest version used pinocchio from ros source to simplified install steps. If you install pinocchio from robot-pkgs, you can uninstall it by

sudo apt remove robotpkg-*

2.3 Clone Repositories

• Create a new workspace or clone the project to your workspace

  cd ~
  mkdir -p ros2_ws/src

• Clone the repository (with all submodules in .gitmodules)

  cd ~/ros2_ws/src
  git clone --recursive https://github.com/wei-hsuan-cheng/ocs2_ros2.git -b humble

  If you forgot --recursive, you can run:

  cd ~/ros2_ws/src/ocs2_ros2
  git submodule update --init --recursive

• rosdep

  cd ~/ros2_ws
  rosdep update
  rosdep install --from-paths src --ignore-src -r -y

3. Basic Examples

This section contains basic examples for the OCS2 library.

3.1 Double Integrator

🎯 Click to expand Double Integrator example

• build

  cd ~/ros2_ws
  colcon build --packages-up-to ocs2_double_integrator_ros --symlink-install

• run

  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_double_integrator_ros double_integrator.launch.py

double_interger.webm

3.2 Cartpole

🛒 Click to expand Cartpole example

• build

  cd ~/ros2_ws
  colcon build --packages-up-to ocs2_cartpole_ros --symlink-install

• run

  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_cartpole_ros cartpole.launch.py

cart.pole.webm

3.3 Ballbot

🏀 Click to expand Ballbot example

• build

  cd ~/ros2_ws
  colcon build --packages-up-to ocs2_ballbot_ros --symlink-install

• run

  source ~/ros2_ws/install/setup.bash
  # Launch demo
  ros2 launch ocs2_ballbot_ros ballbot_ddp.launch.py
  # Send target pose to ballbot [x, y, yaw] [m, deg] 
  ros2 run ocs2_ballbot_ros ballbot_target

ballbot.webm

3.4 Quadrotor

🚁 Click to expand Quadrotor example

• build

  cd ~/ros2_ws
  colcon build --packages-up-to ocs2_quadrotor_ros --symlink-install

• run

  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_quadrotor_ros quadrotor.launch.py

quadrotor.webm

3.5 Mobile Manipulator

🦾 Click to expand Mobile Manipulator example

• build

  cd ~/ros2_ws
  colcon build --packages-up-to \
      ocs2_mobile_manipulator_ros \
      --parallel-workers 1 --executor sequential\
      --symlink-install \
      && . install/setup.bash

• run Mabi-Mobile

  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_mobile_manipulator_ros manipulator_mabi_mobile.launch.py

  mabi-mobile.webm

• run Kinova

  source ~/ros2_ws/install/setup.bash
  # Jaco2
  ros2 launch ocs2_mobile_manipulator_ros manipulator_kinova_j2n6.launch.py
  ros2 launch ocs2_mobile_manipulator_ros manipulator_kinova_j2n7.launch.py
  # Gen3 Lite
  ros2 launch ocs2_mobile_manipulator_ros manipulator_kinova_gen3_lite.launch.py

• run Franka Panda

  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_mobile_manipulator_ros franka.launch.py

  franka.webm

• run Willow Garage PR2

  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_mobile_manipulator_ros pr2.launch.py

  pr2.webm

• run UR-5

  source ~/ros2_ws/install/setup.bash
  # Marker/Twist/Trajecoty target modes
  ros2 launch ocs2_mobile_manipulator_ros ur5_marker.launch.py solver:=ddp
  ros2 launch ocs2_mobile_manipulator_ros ur5_twist.launch.py solver:=ddp
  ros2 launch ocs2_mobile_manipulator_ros ur5_trajectory.launch.py solver:=ddp
  # solver:=ddp, sqp

• run Clearpath Ridgeback with UR-5

  source ~/ros2_ws/install/setup.bash
  # Marker/Twist/Trajecoty target modes
  ros2 launch ocs2_mobile_manipulator_ros manipulator_ridgeback_ur5_marker.launch.py solver:=ddp
  ros2 launch ocs2_mobile_manipulator_ros manipulator_ridgeback_ur5_twist.launch.py solver:=ddp
  ros2 launch ocs2_mobile_manipulator_ros manipulator_ridgeback_ur5_trajectory.launch.py solver:=ddp
  # solver:=ddp, sqp

3.6 Legged Robot

🐕 Click to expand Legged Robot example

• build

  cd ~/ros2_ws
  colcon build --packages-up-to \
      ocs2_legged_robot_ros \
      --parallel-workers 1 --executor sequential\
      --symlink-install \
      && . install/setup.bash

• run legged robot mpc

  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_legged_robot_ros legged_robot_ddp.launch.py
  # Solvers: _ddp, _sqp, _ipm

• Set gait command and reference motion

  source ~/ros2_ws/install/setup.bash
  # Gai command
  ros2 run ocs2_legged_robot_ros legged_robot_gait_command --ros-args \
  -p gaitCommandFile:=/home/whcheng/ocs2_ros2_ws/install/ocs2_legged_robot/share/ocs2_legged_robot/config/command/gait.info
  # Reference motion
  ros2 run ocs2_legged_robot_ros legged_robot_target --ros-args \
  -p referenceFile:=/home/whcheng/ocs2_ros2_ws/install/ocs2_legged_robot/share/ocs2_legged_robot/config/command/reference.info

ros2 run ocs2_legged_robot_ros legged_robot_gait_command --ros-args
-p gaitCommandFile:=/home/whcheng/ocs2_ros2_ws/install/ocs2_legged_robot/share/ocs2_legged_robot/config/command/gait.info

ros2 run ocs2_legged_robot_ros legged_robot_target --ros-args
-p referenceFile:=/home/whcheng/ocs2_ros2_ws/install/ocs2_legged_robot/share/ocs2_legged_robot/config/command/reference.info

trot.webm

4. Advanced Examples

4.1 Perceptive Locomotion

4.2 RaiSim Simulation

4.3 MPC-Net

5. Related Projects

• fiveages-sim/robot_descriptions: More robot configs for OCS2_ROS2
• fiveages-sim/arms_ros2_control: Mobile manipulator controller based on OCS2_ROS2
• legubiao/quadruped_ros2_control: Quadruped controller based on OCS2_ROS2