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quadruped_ros2_control
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quadruped_ros2_control/descriptions/unitree/aliengo_description
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Zhenbiao Huang 50f151753f add more gazebo simulation support 2024-10-10 22:44:32 +08:00
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README.md add more gazebo simulation support 2024-10-10 22:44:32 +08:00
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README.md

Unitree AlienGo Description

This repository contains the urdf model of Aliengo.

Aliengo

Tested environment:

  • Ubuntu 24.04
    • ROS2 Jazzy

Build

cd ~/ros2_ws
colcon build --packages-up-to aliengo_description  --symlink-install

Visualize the robot

To visualize and check the configuration of the robot in rviz, simply launch:

source ~/ros2_ws/install/setup.bash
ros2 launch aliengo_description visualize.launch.py

Launch ROS2 Control

Mujoco Simulator

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

Gazebo Simulator

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch aliengo_description gazebo_unitree_guide.launch.py