ppo_ros

ROS 2 package for legged robot control!

Let's control your robot with proximal policy optimization!

Architecture

This package support proximal policy optimization.

Proximal policy optimization is one of a Actor-Critic algorithms, this node is the result of exporting the Actor network in torchscript format and integrating it with ROS 2.

ppo_ros node subscribe control/state topic and publish control/action topic.

Simulator / Hardware interface

Interface is very simple.
Interface is ROS 2 topic.

Interface with Genesis simulator

Genesis and ppo_ros package communicate with ROS 2 topic over zenoh protocol.

Genesis and genesis_ros library is completely independent from ROS 2, so we can speed up learning inside genesis.

Interface with Real robot

If you want to use real robot, it's simple make a ROS 2 node that publish control/state and control/action topic wiht torch_msgs/msg/Float32Tensor type.

ppo_ros use type adaptation feature in ROS 2.

So, if you use GPU, you do not need to re-allocate tensor if you make Robot hardware driver node.