quadruped_ros2_control/libraries/gz_quadruped_playground/README.md

# Gazebo Quadruped Playground

This folder contains the gazebo worlds and sensor models used for quadruped robot simulation.

Tested environment:

* Ubuntu 24.04 【ROS2 Jazzy】

## Build

```bash
cd ~/ros2_ws
colcon build --packages-up-to gz_quadruped_playground --symlink-install
```

## Launch Simulation
* Unitree Guide Controller
    ```bash
    source ~/ros2_ws/install/setup.bash
    ros2 launch gz_quadruped_playground gazebo.launch.py controller:=unitree_guide
    ```
* Unitree Guide Controller
    ```bash
    source ~/ros2_ws/install/setup.bash
    ros2 launch gz_quadruped_playground gazebo.launch.py controller:=ocs2
    ```

## Related Materials
* [Gazebo OdometryPublisher Plugin](https://gazebosim.org/api/sim/8/classgz_1_1sim_1_1systems_1_1OdometryPublisher.html#details)