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quadruped_ros2_control
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quadruped_ros2_control/descriptions/aliengo_description
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Huang Zhenbiao 2c9cd21c00 achieved basic control on go2 and aliengo 2024-09-30 15:10:08 +08:00
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config achieved basic control on go2 and aliengo 2024-09-30 15:10:08 +08:00
launch achieved basic control on go2 and aliengo 2024-09-30 15:10:08 +08:00
meshes add support for aliengo 2024-09-26 20:24:03 +08:00
urdf achieved basic control on go2 and aliengo 2024-09-30 15:10:08 +08:00
xacro achieved basic control on go2 and aliengo 2024-09-30 15:10:08 +08:00
CMakeLists.txt achieved basic control on go2 and aliengo 2024-09-30 15:10:08 +08:00
README.md achieved basic control on go2 and aliengo 2024-09-30 15:10:08 +08:00
package.xml add support for aliengo 2024-09-26 20:24:03 +08:00

README.md

Unitree AlienGo Description

This repository contains the urdf model of Aliengo.

Tested environment:

  • Ubuntu 24.04
    • ROS2 Jazzy

Build

cd ~/ros2_ws
colcon build --packages-up-to aliengo_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 aliengo_description visualize.launch.py

Launch ROS2 Control

  • 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