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Abnormal swing trajectories for back legs when trying to run ocs2_anymal_perceptive on Unitree B1 and Unitree Aliengo

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### Description I am trying to integrate the `ocs2_perceptive_anymal` in the `ocs2_robotics_example` framework for the Unitree B1 and Unitree Aliengo quadruped robots. Initially, while the front legs' foot placements appeared...

HariP19

Can I build and install the OCS2 using ros2 humble on ubuntu 22.04?

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How can I build and install OCS2 using ros2-humble on ubuntu 22.04?

Yulluoo

Support for ubuntu 18.04

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I am wondering if the ocs2 supports for ubuntu 18.04

hxydebug

In function: ```c++ ad_vector_t LeggedBalanceSystemDynamics::systemFlowMap(ad_scalar_t /*time*/, const ad_vector_t& state, const ad_vector_t& input, const ad_vector_t& parameters) const { // todo: add linear equation ad_scalar_t theta_l = state(1), theta_r = state(2), theta...

chenHurry00

farbod-farshidian

When will ROS2 be supported?

duyongquan

I am using loopshaping in OCS2, but there is some difference between my simulation and paper "Frequency-Aware Model Predictive Control", I suspect I make some mistakes when using loopshaping. So...

wanghg1992

WARNING: Failed to set threads priority (one possible reason could be that the user and the group permissions are not set properly.)

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**Is your feature request related to a problem? Please describe.** A clear and concise description of what the problem is. Ex. I'm always frustrated when [...] **Describe the solution you'd...

17609394ch

I am working on quadruped robot, if I want to change order of leg, which file should I change?

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I am working on quadruped robot, if I want to change order of leg, which file should I change?

wanghg1992

Run train.py in ocs2_ballbot_mpcnet but stuck at waiting for the first data

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**Describe the bug** I set up and install all the dependency of MPC-Net and then i run the train.py in ocs2_ballbot_mpcnet, it seems everything goes well but the program stuck...

EricTonyLiu