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quadruped_ros2_control/libraries/gz_quadruped_playground
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Huang Zhenbiao 5e6a9d0b9c achieved d435 rgbd camera simulation 2025-03-01 12:03:54 +08:00
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config add and tested lidar simulation 2025-02-27 10:09:12 +08:00
launch achieved d435 rgbd camera simulation 2025-03-01 12:03:54 +08:00
models/D435 achieved d435 rgbd camera simulation 2025-03-01 12:03:54 +08:00
worlds take FSM out as separate library 2025-02-27 19:02:21 +08:00
CMakeLists.txt achieved d435 rgbd camera simulation 2025-03-01 12:03:54 +08:00
README.md achieved d435 rgbd camera simulation 2025-03-01 12:03:54 +08:00
package.xml tried to add foot force sensor 2025-02-26 01:18:37 +08:00

README.md

Gazebo Quadruped Playground

This folder contains the gazebo worlds and sensor models used for quadruped robot simulation.

Tested environment:

  • Ubuntu 24.04 【ROS2 Jazzy】

Build

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

Launch Simulation

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

    source ~/ros2_ws/install/setup.bash
ros2 launch gz_quadruped_playground gazebo.launch.py world:=warehouse
  • OCS2 Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch gz_quadruped_playground gazebo.launch.py controller:=ocs2

    source ~/ros2_ws/install/setup.bash
ros2 launch gz_quadruped_playground gazebo.launch.py controller:=ocs2 world:=warehouse

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