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quadruped_ros2_control
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quadruped_ros2_control/descriptions/unitree/a1_description/README.md

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Unitree A1 Description

This repository contains the urdf model of A1.

A1

Tested environment:

  • Ubuntu 24.04
    • ROS2 Jazzy

Build

cd ~/ros2_ws
colcon build --packages-up-to a1_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 a1_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:=a1_description
  • OCS2 Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=a1_description
  • RL Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch rl_quadruped_controller mujoco.launch.py pkg_description:=a1_description

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:=a1_description

Gazebo Harmonic (ROS2 Jazzy)

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=a1_description height:=0.43
  • RL Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch rl_quadruped_controller gazebo.launch.py pkg_description:=a1_description height:=0.43