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quadruped_ros2_control
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quadruped_ros2_control/descriptions/deep_robotics/lite3_description
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Huang Zhenbiao f8a32f29db try to add gazebo classic simulation for rl 2024-10-24 21:02:55 +08:00
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config try to add gazebo classic simulation for rl 2024-10-24 21:02:55 +08:00
launch fix leg controller in jazzy, simplified gazebo launch file 2024-10-20 12:42:34 +08:00
meshes add deep robotics lite3 2024-10-09 21:17:45 +08:00
urdf add deep robotics lite3 2024-10-09 21:17:45 +08:00
xacro add more support for gazebo classic simulationn 2024-10-24 15:05:26 +08:00
CMakeLists.txt add deep robotics lite3 2024-10-09 21:17:45 +08:00
README.md add more support for gazebo classic simulationn 2024-10-24 15:05:26 +08:00
package.xml add deep robotics lite3 2024-10-09 21:17:45 +08:00

README.md

DeepRobotics Lite3 Description

This repository contains the urdf model of lite3.

lite3

Tested environment:

  • Ubuntu 24.04
    • ROS2 Jazzy

Build

cd ~/ros2_ws
colcon build --packages-up-to lite3_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 lite3_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:=lite3_description
  • OCS2 Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=lite3_description
  • RL Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch rl_quadruped_controller mujoco.launch.py pkg_description:=lite3_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:=lite3_description

Gazebo Harmonic (ROS2 Jazzy)

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=lite3_description height:=0.43