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quadruped_ros2_control
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quadruped_ros2_control/descriptions/unitree/go2_description
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Huang Zhenbiao 0ff1b344e7 add estimator 2024-10-15 22:40:15 +08:00
..
config add estimator 2024-10-15 22:40:15 +08:00
launch fix launch for humble 2024-10-12 00:56:49 +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 tried go2 rl control but failed 2024-10-10 21:22:58 +08:00
CMakeLists.txt modified folder structure 2024-10-01 13:48:49 +08:00
README.md add more gazebo simulation support 2024-10-10 22:44:32 +08:00
package.xml modified folder structure 2024-10-01 13:48:49 +08:00

README.md

Unitree Go2 Description

This repository contains the urdf model of go2.

go2

Tested environment:

  • Ubuntu 24.04
    • ROS2 Jazzy
  • Ubuntu 22.04
    • ROS2 Humble

Build

cd ~/ros2_ws
colcon build --packages-up-to go2_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 go2_description visualize.launch.py

Launch ROS2 Control

Mujoco Simulator

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch go2_description unitree_guide.launch.py
  • OCS2 Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch go2_description ocs2_control.launch.py
  • RL Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch go2_description rl_control.launch.py

Gazebo Simulator

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch go2_description gazebo_unitree_guide.launch.py
  • RL Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch go2_description gazebo_rl_control.launch.py

When used for isaac gym or other similiar engine

Collision parameters in urdf can be amended to better train the robot:

Open "go2_description.urdf" in "./go2_description/urdf", and amend the box size="0.213 0.0245 0.034" in links of "FL_thigh", "FR_thigh", "RL_thigh", "RR_thigh".

For example, change previous values to box size="0.11 0.0245 0.034" means the length of the thigh is shortened from 0.213 to 0.11, which can avoid unnecessary collision between the thigh link and the calf link.

The collision model before and after the above amendment are shown as "Normal_collision_model.png" and " Amended_collision_model.png" respectively.