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quadruped_ros2_control
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quadruped_ros2_control/descriptions/unitree/go1_description
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Huang Zhenbiao 15b4b798d1 enhanced state switch for ocs2 quadruped controller 2025-03-15 19:42:35 +08:00
..
config enhanced state switch for ocs2 quadruped controller 2025-03-15 19:42:35 +08:00
launch fix leg controller in jazzy, simplified gazebo launch file 2024-10-20 12:42:34 +08:00
meshes modified folder structure 2024-10-01 13:48:49 +08:00
urdf ocs2 controller dependencies fix 2025-01-16 11:06:27 +08:00
xacro add support for ground truth estimator 2025-01-16 16:56:04 +08:00
CMakeLists.txt modified folder structure 2024-10-01 13:48:49 +08:00
README.md add more support for gazebo classic simulationn 2024-10-24 15:05:26 +08:00
package.xml modified folder structure 2024-10-01 13:48:49 +08:00

README.md

Unitree Go1 Description

This repository contains the urdf model of go1.

go1

Build

cd ~/ros2_ws
colcon build --packages-up-to go1_description  --symlink-install

Visualize the robot

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

source ~/ros2_ws/install/setup.bash
ros2 launch go1_description visualize.launch.py

Launch ROS2 Control

Mujoco Simulator

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go1_description
  • OCS2 Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=go1_description

Gazebo Classic 11 (ROS2 Humble)

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo_classic.launch.py pkg_description:=go1_description

Gazebo Harmonic (ROS2 Jazzy)

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=go1_description