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/aliengo_description
History
Huang Zhenbiao 44df86fc7f add visualizer 2024-09-30 20:02:56 +08:00
..
config achieved basic control on go2 and aliengo 2024-09-30 15:10:08 +08:00
launch add visualizer 2024-09-30 20:02:56 +08:00
meshes add support for aliengo 2024-09-26 20:24:03 +08:00
urdf add visualizer 2024-09-30 20:02:56 +08:00
xacro add visualizer 2024-09-30 20:02:56 +08:00
CMakeLists.txt achieved basic control on go2 and aliengo 2024-09-30 15:10:08 +08:00
README.md add visualizer 2024-09-30 20:02:56 +08:00
package.xml add support for aliengo 2024-09-26 20:24:03 +08:00

README.md

Unitree AlienGo Description

This repository contains the urdf model of Aliengo.

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 ROS2 Control

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch aliengo_description unitree_guide.launch.py
  • OCS2 Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch aliengo_description ocs2_control.launch.py