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quadruped_ros2_control
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quadruped_ros2_control/descriptions/unitree/aliengo_description
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Huang Zhenbiao 834ba68d4b add more support for gazebo classic simulationn 2024-10-24 15:05:26 +08:00
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config add more support for gazebo classic simulationn 2024-10-24 15:05:26 +08:00
launch fix leg controller in jazzy, simplified gazebo launch file 2024-10-20 12:42:34 +08:00
meshes modified folder structure 2024-10-01 13:48:49 +08:00
urdf modified folder structure 2024-10-01 13:48:49 +08:00
xacro add more support for gazebo classic simulationn 2024-10-24 15:05:26 +08:00
CMakeLists.txt modified folder structure 2024-10-01 13:48:49 +08:00
README.md add more support for gazebo classic simulationn 2024-10-24 15:05:26 +08:00
package.xml modified folder structure 2024-10-01 13:48:49 +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  --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 aliengo_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:=aliengo_description
  • OCS2 Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=aliengo_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:=aliengo_description height:=0.535

Gazebo Harmonic (ROS2 Jazzy)

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=aliengo_description height:=0.535