EmbodiedAI
/
quadruped_ros2_control
mirror of https://github.com/legubiao/quadruped_ros2_control.git
3
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
quadruped_ros2_control/descriptions/deep_robotics/lite3_description
History
Zhenbiao Huang 4575779eb5 fix leg controller in jazzy, simplified gazebo launch file 2024-10-20 12:42:34 +08:00
..
config fix ocs2 performance under ubuntu 24.04 2024-10-18 22:22:07 +08:00
launch fix leg controller in jazzy, simplified gazebo launch file 2024-10-20 12:42:34 +08:00
meshes add deep robotics lite3 2024-10-09 21:17:45 +08:00
urdf add deep robotics lite3 2024-10-09 21:17:45 +08:00
xacro add deep robotics lite3 2024-10-09 21:17:45 +08:00
CMakeLists.txt add deep robotics lite3 2024-10-09 21:17:45 +08:00
README.md fix leg controller in jazzy, simplified gazebo launch file 2024-10-20 12:42:34 +08:00
package.xml add deep robotics lite3 2024-10-09 21:17:45 +08:00

README.md

DeepRobotics Lite3 Description

This repository contains the urdf model of lite3.

lite3

Tested environment:

  • Ubuntu 24.04
    • ROS2 Jazzy

Build

cd ~/ros2_ws
colcon build --packages-up-to lite3_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 lite3_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:=lite3_description
  • OCS2 Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=lite3_description
  • Legged Gym Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch a1_description rl_control.launch.py

Gazebo Simulator

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=lite3_description height:=0.43
  • Legged Gym Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch lite3_description gazebo_rl_control.launch.py