quadruped_ros2_control/descriptions/anybotics/anymal_c_description/README.md

Anybotics Anymal_C Description

This repository contains the urdf model of lite3.

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