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quadruped_ros2_control
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add warning for unitree sdk2

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Zhenbiao Huang 2024-10-18 22:37:36 +08:00
parent eeff28fb7a
commit 0353e101c7
2 changed files with 7 additions and 0 deletions
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README.md
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@ -15,6 +15,7 @@ Todo List:
- [x] [OCS2 Quadruped Control](controllers/ocs2_quadruped_controller) - [x] [OCS2 Quadruped Control](controllers/ocs2_quadruped_controller)
- [x] [Learning-based Controller](controllers/rl_quadruped_controller/) - [x] [Learning-based Controller](controllers/rl_quadruped_controller/)
- [ ] Fully understand the RL Workflow - [ ] Fully understand the RL Workflow
- [ ] ROS2 Humble Gazebo Classic Support
Video for Unitree Guide Controller: Video for Unitree Guide Controller:
[![](http://i1.hdslb.com/bfs/archive/310e6208920985ac43015b2da31c01ec15e2c5f9.jpg)](https://www.bilibili.com/video/BV1aJbAeZEuo/) [![](http://i1.hdslb.com/bfs/archive/310e6208920985ac43015b2da31c01ec15e2c5f9.jpg)](https://www.bilibili.com/video/BV1aJbAeZEuo/)
@ -35,6 +36,10 @@ Video for OCS2 Quadruped Controller:
``` ```
### 1.1 Mujoco Simulator ### 1.1 Mujoco Simulator
Please use this [Mujoco Simulation](hardwares/hardware_unitree_mujoco) for more robot models and contact sensor.
> **Warning:** CycloneDDS ROS2 RMW may conflict with unitree_sdk2. If you cannot launch unitree mujoco simulation without `sudo`, then you cannot used `unitree_mujoco_hardware`. You can switch to gazebo, or tried to solve the conflict by uninstall CycloneDDS ROS2 RMW.
* Launch the unitree mujoco go2 simulation * Launch the unitree mujoco go2 simulation
* Launch the ros2-control * Launch the ros2-control
```bash ```bash

2
descriptions/README.md
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@ -13,6 +13,8 @@ This folder contains the URDF and SRDF files for the quadruped robot.
* Deep Robotics * Deep Robotics
* [Lite 3](deep_robotics/lite3_description/) * [Lite 3](deep_robotics/lite3_description/)
* [X30](deep_robotics/x30_description/) * [X30](deep_robotics/x30_description/)
* Anybotics
* [Anymal C](anybotics/anymal_c_description/)
## 1. Steps to transfer urdf to Mujoco model ## 1. Steps to transfer urdf to Mujoco model