67 lines
1.6 KiB
Markdown
67 lines
1.6 KiB
Markdown
# Unitree A1 Description
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This repository contains the urdf model of A1.
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Tested environment:
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* Ubuntu 24.04
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* ROS2 Jazzy
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## Build
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```bash
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cd ~/ros2_ws
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colcon build --packages-up-to a1_description --symlink-install
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```
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## Visualize the robot
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To visualize and check the configuration of the robot in rviz, simply launch:
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch a1_description visualize.launch.py
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```
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## Launch ROS2 Control
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### Mujoco Simulator
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* Unitree Guide Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=a1_description
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```
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* OCS2 Quadruped Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=a1_description
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```
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* RL Quadruped Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch rl_quadruped_controller mujoco.launch.py pkg_description:=a1_description
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```
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### Gazebo Classic 11 (ROS2 Humble)
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* Unitree Guide Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch unitree_guide_controller gazebo_classic.launch.py pkg_description:=a1_description height:=0.43
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```
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### Gazebo Harmonic (ROS2 Jazzy)
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* Unitree Guide Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=a1_description height:=0.43
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```
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* RL Quadruped Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch rl_quadruped_controller gazebo.launch.py pkg_description:=a1_description height:=0.43
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``` |