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quadruped_ros2_control
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quadruped_ros2_control/descriptions/go1_description
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Zhenbiao Huang 00b6dbaeeb ad qpoases colcon 2024-09-28 23:05:13 +08:00
..
config ad qpoases colcon 2024-09-28 23:05:13 +08:00
launch ad qpoases colcon 2024-09-28 23:05:13 +08:00
meshes go1 description and keyboard input 2024-09-11 11:32:54 +08:00
urdf ad qpoases colcon 2024-09-28 23:05:13 +08:00
xacro ocs2 controller adding 2024-09-24 21:50:46 +08:00
CMakeLists.txt ad qpoases colcon 2024-09-28 23:05:13 +08:00
README.md ad qpoases colcon 2024-09-28 23:05:13 +08:00
package.xml can stand up 2024-09-11 20:41:12 +08:00

README.md

Unitree Go1 Description

This repository contains the urdf model of go1.

Build

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

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

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch go1_description unitree_guide.launch.py
  • OCS2 Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch go1_description ocs2_control.launch.py