quadruped_ros2_control/descriptions/unitree/a1_description/README.md

Unitree A1 Description

This repository contains the urdf model of A1.

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