79 lines
2.1 KiB
Markdown
79 lines
2.1 KiB
Markdown
# Unitree Go2 Description
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This repository contains the urdf model of go2.
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Tested environment:
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* Ubuntu 24.04
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* ROS2 Jazzy
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* Ubuntu 22.04
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* ROS2 Humble
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## 1. Build
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```bash
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cd ~/ros2_ws
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colcon build --packages-up-to go2_description --symlink-install
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```
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## 2. Visualize the robot
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To visualize and check the configuration of the robot in rviz, simply launch:
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch go2_description visualize.launch.py
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```
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## 3. Launch ROS2 Control
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### 3.1 Mujoco Simulator or Real Go2 Robot
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> **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`.
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> * Config guide could be found at [UnitreeHardwareInterface](../../../hardwares/hardware_unitree_mujoco)
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> * Don't forget to disable the **Official Locomotion Controller** in the robot before the test
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> * To use Unitree's remote controller, see [UnitreeJoystickInput](../../../commands/unitree_joystick_input)
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> * Always test on simulator first before deploying to the real robot.
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* Unitree Guide Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch unitree_guide_controller mujoco.launch.py
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```
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* OCS2 Quadruped Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch ocs2_quadruped_controller mujoco.launch.py
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```
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* RL Quadruped Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch rl_quadruped_controller mujoco.launch.py
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```
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### 3.2 Gazebo Classic 11 (ROS2 Humble)
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* Unitree Guide Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch unitree_guide_controller gazebo_classic.launch.py
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```
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### 3.3 Gazebo Harmonic (ROS2 Jazzy)
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* Unitree Guide Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch unitree_guide_controller gazebo.launch.py
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```
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* OCS2 Quadruped Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch ocs2_quadruped_controller gazebo.launch.py
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```
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* RL Quadruped Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch go2_description gazebo_rl_control.launch.py
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```
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