# Unitree B2 Description

This repository contains the urdf model of b2.

![B2](../../../.images/b2.png)

## Build

```bash
cd ~/ros2_ws
colcon build --packages-up-to b2_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 b2_description visualize.launch.py
```

## Launch ROS2 Control

### Mujoco Simulator

* Unitree Guide Controller
  ```bash
  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=b2_description
  ```
* OCS2 Quadruped Controller
  ```bash
  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=b2_description
  ```
  
### Gazebo Simulator

* Unitree Guide Controller
  ```bash
  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=b2_description height:=0.68
  ```