quadruped_ros2_control/descriptions/aliengo_description/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 Hardware Interface

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