History

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	add gait manager	2024-09-26 17:28:18 +08:00
meshes	init commit	2024-09-09 22:18:19 +08:00
urdf	state estimate tested	2024-09-25 21:01:50 +08:00
xacro	add support for foot force sensor	2024-09-24 17:13:51 +08:00
CMakeLists.txt	state estimate tested	2024-09-25 21:01:50 +08:00
README.md	state estimate tested	2024-09-25 21:01:50 +08:00
package.xml	fixed the frequency problem	2024-09-14 17:54:39 +08:00

README.md

Unitree Go2 Description

This repository contains the urdf model of go2.

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy
Ubuntu 22.04
- ROS2 Humble

Build

cd ~/ros2_ws
colcon build --packages-up-to go2_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 go2_description visualize.launch.py

Launch ROS2 Control

Unitree Guide Controller

source ~/ros2_ws/install/setup.bash
ros2 launch go2_description hardware.launch.py

OCS2 Quadruped Controller

source ~/ros2_ws/install/setup.bash
ros2 launch go2_description ocs2_control.launch.py

When used for isaac gym or other similiar engine

Collision parameters in urdf can be amended to better train the robot:

Open "go2_description.urdf" in "./go2_description/urdf", and amend the box size="0.213 0.0245 0.034" in links of "FL_thigh", "FR_thigh", "RL_thigh", "RR_thigh".

For example, change previous values to box size="0.11 0.0245 0.034" means the length of the thigh is shortened from 0.213 to 0.11, which can avoid unnecessary collision between the thigh link and the calf link.

The collision model before and after the above amendment are shown as "Normal_collision_model.png" and "Amended_collision_model.png" respectively.