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quadruped_ros2_control
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quadruped_ros2_control/descriptions/unitree/go2_description
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Huang Zhenbiao c262520093 add relative path for ocs2 shared library 2025-03-15 23:21:53 +08:00
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config add relative path for ocs2 shared library 2025-03-15 23:21:53 +08:00
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xacro add relative path for ocs2 shared library 2025-03-15 23:21:53 +08:00
CMakeLists.txt modified folder structure 2024-10-01 13:48:49 +08:00
README.md add lidar for deep robotics lite3 2025-03-01 22:08:59 +08:00
package.xml Add Gazebo Playground 2025-02-23 01:19:51 +08:00

README.md

Unitree Go2 Description

This repository contains the urdf model of go2.

go2

Tested environment:

  • Ubuntu 24.04
    • ROS2 Jazzy
  • Ubuntu 22.04
    • ROS2 Humble

1. Build

cd ~/ros2_ws
colcon build --packages-up-to go2_description --symlink-install

2. Visualize the robot

To visualize and check the configuration of the robot in rviz, simply launch:

source ~/ros2_ws/install/setup.bash
ros2 launch go2_description visualize.launch.py

3. Launch ROS2 Control

3.1 Mujoco Simulator

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py
  • OCS2 Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_quadruped_controller mujoco.launch.py
  • RL Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch rl_quadruped_controller mujoco.launch.py

3.2 Gazebo Classic 11 (ROS2 Humble)

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo_classic.launch.py

3.3 Gazebo Harmonic (ROS2 Jazzy)

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py
  • OCS2 Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_quadruped_controller gazebo.launch.py
  • RL Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch go2_description gazebo_rl_control.launch.py