32 lines
929 B
Markdown
32 lines
929 B
Markdown
|
# Quadruped Gazebo
|
||
|
|
|
||
|
|
This package contains the description of the legged robot from Unitree Robotics, and the launch file to load them into the gazebo empty world.
|
||
|
|
|
||
|
|
## Build
|
||
|
|
```bash
|
||
|
|
cd ~/ros2_ws
|
||
|
|
colcon build --packages-up-to quadruped_gazebo
|
||
|
|
```
|
||
|
|
|
||
|
|
## 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 quadruped_gazebo visualize.launch.py
|
||
|
|
```
|
||
|
|
The default model is a1. To use another robot model, add the following argument:
|
||
|
|
```bash
|
||
|
|
source ~/ros2_ws/install/setup.bash
|
||
|
|
ros2 launch quadruped_gazebo visualize.launch.py robot_type:=go1
|
||
|
|
```
|
||
|
|
|
||
|
|
## Launch the robot in gazebo
|
||
|
|
```bash
|
||
|
|
source ~/ros2_ws/install/setup.bash
|
||
|
|
ros2 launch quadruped_gazebo gazebo.launch.py
|
||
|
|
```
|
||
|
|
To use another robot model, add the following argument:
|
||
|
|
```bash
|
||
|
|
source ~/ros2_ws/install/setup.bash
|
||
|
|
ros2 launch quadruped_gazebo gazebo.launch.py robot_type:=go1
|
||
|
|
```
|