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quadruped_ros2_control
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quadruped_ros2_control/descriptions/unitree/b2_description
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Huang Zhenbiao 316d333278 add support for gazebo classic simulator 2024-10-17 21:45:48 +08:00
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config add more gazebo simulation support 2024-10-10 22:44:32 +08:00
launch add support for gazebo classic simulator 2024-10-17 21:45:48 +08:00
meshes modified folder structure 2024-10-01 13:48:49 +08:00
urdf modified folder structure 2024-10-01 13:48:49 +08:00
xacro add more gazebo simulation support 2024-10-10 22:44:32 +08:00
CMakeLists.txt modified folder structure 2024-10-01 13:48:49 +08:00
README.md add support for gazebo classic simulator 2024-10-17 21:45:48 +08:00
package.xml modified folder structure 2024-10-01 13:48:49 +08:00

README.md

Unitree B2 Description

This repository contains the urdf model of b2.

B2

Build

cd ~/ros2_ws
colcon build --packages-up-to b2_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 b2_description visualize.launch.py

Launch ROS2 Control

Mujoco Simulator

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=b2_description
  • OCS2 Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch b2_description ocs2_control.launch.py

Gazebo Simulator

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch b2_description gazebo.launch.py