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quadruped_ros2_control
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quadruped_ros2_control/descriptions/anybotics/anymal_c_description
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Zhenbiao Huang eeff28fb7a fix ocs2 performance under ubuntu 24.04 2024-10-18 22:22:07 +08:00
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config fix ocs2 performance under ubuntu 24.04 2024-10-18 22:22:07 +08:00
launch ocs2 launch file refact 2024-10-18 11:47:31 +08:00
meshes add support for anymal c 2024-10-16 22:59:11 +08:00
urdf add support for anymal c 2024-10-16 22:59:11 +08:00
xacro add support for anymal c 2024-10-16 22:59:11 +08:00
CMakeLists.txt add support for anymal c 2024-10-16 22:59:11 +08:00
LICENSE add support for anymal c 2024-10-16 22:59:11 +08:00
README.md ocs2 launch file refact 2024-10-18 11:47:31 +08:00
package.xml add support for anymal c 2024-10-16 22:59:11 +08:00

README.md

Anybotics Anymal_C Description

This repository contains the urdf model of lite3.

anymal_c

Tested environment:

  • Ubuntu 24.04
    • ROS2 Jazzy

Build

cd ~/ros2_ws
colcon build --packages-up-to anymal_c_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 anymal_c_description visualize.launch.py

Launch ROS2 Control

Mujoco Simulator

  • OCS2 Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=anymal_c_description
  • Legged Gym Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch anymal_c_description rl_control.launch.py