# Anybotics Anymal_C Description This repository contains the urdf model of lite3. ![anymal_c](../../../.images/anymal_c.png) Tested environment: * Ubuntu 24.04 * ROS2 Jazzy ## Build ```bash cd ~/ros2_ws colcon build --packages-up-to anymal_c_description --symlink-install ``` ## 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 anymal_c_description visualize.launch.py ``` ## Launch ROS2 Control ### Mujoco Simulator * OCS2 Quadruped Controller ```bash source ~/ros2_ws/install/setup.bash ros2 launch anymal_c_description ocs2_control.launch.py ``` * Legged Gym Controller ```bash source ~/ros2_ws/install/setup.bash ros2 launch anymal_c_description rl_control.launch.py ```