quadruped_ros2_control/descriptions
Huang Zhenbiao 818211736e add rl for x30 2024-10-25 12:47:03 +08:00
..
anybotics/anymal_c_description fix ocs2 performance under ubuntu 24.04 2024-10-18 22:22:07 +08:00
deep_robotics add rl for x30 2024-10-25 12:47:03 +08:00
unitree try to add gazebo classic simulation for rl 2024-10-24 21:02:55 +08:00
xiaomi/cyberdog_description add more support for gazebo classic simulationn 2024-10-24 15:05:26 +08:00
README.md add warning for unitree sdk2 2024-10-18 22:37:36 +08:00

README.md

Robot Descriptions

This folder contains the URDF and SRDF files for the quadruped robot.

1. Steps to transfer urdf to Mujoco model

  • Install Mujoco
  • Transfer the mesh files to mujoco supported format, like stl.
  • Adjust the urdf tile to match the mesh file. Transfer the mesh file from .dae to .stl may change the scale size of the mesh file.
  • use xacro to generate the urdf file.
    xacro robot.xacro > ../urdf/robot.urdf
    
  • use mujoco to convert the urdf file to mujoco model.
    compile robot.urdf robot.xml
    

2. Dependencies for Gazebo Simulation

Gazebo Simulation only tested on ROS2 Jazzy. It add support for ROS2 Humble because the package name is different.

  • Gazebo Harmonic
    sudo apt-get install ros-jazzy-ros-gz
    
  • Ros2-Control for Gazebo
    sudo apt-get install ros-jazzy-gz-ros2-control
    
  • Legged PD Controller
    cd ~/ros2_ws
    colcon build --packages-up-to leg_pd_controller
    

2. Dependencies for Gazebo Classic Simulation

Gazebo Classic (Gazebo11) Simulation only tested on ROS2 Humble.

  • Gazebo Classic
    sudo apt-get install ros-humble-gazebo-ros
    
  • Ros2-Control for Gazebo
    sudo apt-get install ros-humble-gazebo-ros2-control
    
  • Legged PD Controller
    cd ~/ros2_ws
    colcon build --packages-up-to leg_pd_controller