I haven't had time to write the documentation yet. But I tried my best to keep the whole testing process as simple as possible. And did not change the code of ocs2 itself.

• ocs2 is a huge monorepo, you just need to compile ocs2_legged_robot_ros and its dependencies!
• If you only run simulation, you do not need to compile unitree_hw;

1. Set your robot type(a1 or aliengo) as an environment variable: ROBOT_TYPE

export ROBOT_TYPE=a1

2. Run the simulation:

roslaunch unitree_description empty_world.launch

3. Load the controller:

mon launch legged_controllers load_controller.launch

4. You can start the controller using rqt_controller_manager

sudo apt install ros-noetic-rqt-controller-manager
rosrun rqt_controller_manager rqt_controller_manager

5. After start the controller, you can command the robot by two terminal created by step 3.