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quadruped_ros2_control
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Huang Zhenbiao 85bd924bee add support for anymal c 2024-10-16 22:59:11 +08:00
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anybotics/anymal_c_description add support for anymal c 2024-10-16 22:59:11 +08:00
deep_robotics add deep robotics x30 2024-10-14 22:30:40 +08:00
unitree add support for anymal c 2024-10-16 22:59:11 +08:00
xiaomi/cyberdog_description add more gazebo simulation support 2024-10-10 22:44:32 +08:00
README.md add deep robotics x30 2024-10-14 22:30:40 +08:00

README.md

Robot Descriptions

This folder contains the URDF and SRDF files for the quadruped robot.

Steps to transfer urdf to Mujoco model

  • Install Mujoco
  • Transfer the mesh files to mujoco supported format, like stl.
  • Adjust the urdf tile to match the mesh file. Transfer the mesh file from .dae to .stl may change the scale size of the mesh file.
  • use xacro to generate the urdf file. 
    xacro robot.xacro > ../urdf/robot.urdf
  • use mujoco to convert the urdf file to mujoco model. 
    compile robot.urdf robot.xml

Dependencies for Gazebo Simulation

Gazebo Simulation only tested on ROS2 Jazzy. I didn't add support for ROS2 Humble because the package name is different.

  • Gazebo Harmonic 
    sudo apt-get install ros-jazzy-ros-gz
  • Ros2-Control for Gazebo 
    sudo apt-get install ros-jazzy-gz-ros2-control
  • Legged PD Controller 
    cd ~/ros2_ws
colcon build --packages-up-to leg_pd_controller