26 lines
551 B
Markdown
26 lines
551 B
Markdown
|
# Unitree AlienGo Description
|
||
|
|
This repository contains the urdf model of Aliengo.
|
||
|
|
|
||
|
|
Tested environment:
|
||
|
|
* Ubuntu 24.04
|
||
|
|
* ROS2 Jazzy
|
||
|
|
|
||
|
|
## Build
|
||
|
|
```bash
|
||
|
|
cd ~/ros2_ws
|
||
|
|
colcon build --packages-up-to aliengo_description
|
||
|
|
```
|
||
|
|
|
||
|
|
## Visualize the robot
|
||
|
|
To visualize and check the configuration of the robot in rviz, simply launch:
|
||
|
|
```bash
|
||
|
|
source ~/ros2_ws/install/setup.bash
|
||
|
|
ros2 launch aliengo_description visualize.launch.py
|
||
|
|
```
|
||
|
|
|
||
|
|
## Launch Hardware Interface
|
||
|
|
```bash
|
||
|
|
source ~/ros2_ws/install/setup.bash
|
||
|
|
ros2 launch aliengo_description hardware.launch.py
|
||
|
|
```
|