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quadruped_ros2_control
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quadruped_ros2_control/descriptions/unitree/a1_description
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Huang Zhenbiao 09ec0abde4 add load config file 2024-10-07 11:57:32 +08:00
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README.md can run if remove pytorch support. 2024-10-04 20:14:34 +08:00
package.xml add support for unitree A1 simulation 2024-10-01 19:54:17 +08:00

README.md

Unitree A1 Description

This repository contains the urdf model of A1.

Aliengo

Tested environment:

  • Ubuntu 24.04
    • ROS2 Jazzy

Build

cd ~/ros2_ws
colcon build --packages-up-to a1_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 a1_description visualize.launch.py

Launch ROS2 Control

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch a1_description unitree_guide.launch.py
  • OCS2 Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch a1_description ocs2_control.launch.py
  • Legged Gym Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch a1_description rl_control.launch.py