quadruped_ros2_control/descriptions/deep_robotics/x30_description/README.md

DeepRobotics X30 Description

This repository contains the urdf model of x30.

Tested environment:

• Ubuntu 24.04
  • ROS2 Jazzy

Build

cd ~/ros2_ws
colcon build --packages-up-to x30_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 x30_description visualize.launch.py

Launch ROS2 Control

Gazebo Simulator

• Unitree Guide Controller

  source ~/ros2_ws/install/setup.bash
  ros2 launch x30_description gazebo_unitree_guide.launch.py
  

• Legged Gym Controller

  source ~/ros2_ws/install/setup.bash
  ros2 launch x30_description gazebo_rl_control.launch.py