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quadruped_ros2_control
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quadruped_ros2_control/descriptions/unitree/go2_description
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Huang Zhenbiao 6e2b77a5c8 fix rl controller problem at gazebo 2025-03-31 19:22:29 +08:00
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config fix rl controller problem at gazebo 2025-03-31 19:22:29 +08:00
launch rl controller enhanced 2024-10-21 21:47:25 +08:00
meshes modified folder structure 2024-10-01 13:48:49 +08:00
urdf modified folder structure 2024-10-01 13:48:49 +08:00
xacro add real go2 test 2025-03-30 11:04:48 +08:00
CMakeLists.txt modified folder structure 2024-10-01 13:48:49 +08:00
README.md add real go2 test 2025-03-30 11:04:48 +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 or Real Go2 Robot

About Real Go2 Robot: To switch the Unitree Hardware Interface to the real robot, you need to change the config at xacro/ros2_control.xacro.

  • Config guide could be found at UnitreeHardwareInterface
  • Don't forget to disable the Official Locomotion Controller in the robot before the test
  • To use Unitree's remote controller, see UnitreeJoystickInput
  • Always test on simulator first before deploying to the real robot.
  • 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