51 lines
1.2 KiB
Markdown
51 lines
1.2 KiB
Markdown
# Unitree A1 Description
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This repository contains the urdf model of A1.
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Tested environment:
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* Ubuntu 24.04
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* ROS2 Jazzy
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## Build
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```bash
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cd ~/ros2_ws
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colcon build --packages-up-to a1_description --symlink-install
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```
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## 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 a1_description visualize.launch.py
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```
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## Launch ROS2 Control
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### Mujoco Simulator
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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 a1_description unitree_guide.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 a1_description ocs2_control.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 a1_description rl_control.launch.py
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```
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### Gazebo Simulator
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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 a1_description gazebo_unitree_guide.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 a1_description gazebo_rl_control.launch.py
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``` |