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quadruped_ros2_control
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quadruped_ros2_control/descriptions/deep_robotics/x30_description/README.md

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DeepRobotics X30 Description

This repository contains the urdf model of x30.

x30

Tested environment:

  • Ubuntu 24.04
    • ROS2 Jazzy
  • Ubuntu 22.04
    • ROS2 Humble

Build

cd ~/ros2_ws
colcon build --packages-up-to x30_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 x30_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:=x30_description
  • OCS2 Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=x30_description
  • RL Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch rl_quadruped_controller mujoco.launch.py pkg_description:=x30_description model_folder:=legged_gym

Gazebo Classic 11 (ROS2 Humble)

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo_classic.launch.py pkg_description:=x30_description height:=0.64

Gazebo Harmonic (ROS2 Jazzy)

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=x30_description height:=0.64
  • Legged Gym Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch x30_description gazebo_rl_control.launch.py