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ROS2-Control implementations for Quadruped robots
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README.md modified readme 2024-10-01 19:10:23 +08:00

README.md

Quadruped ROS2 Control

This repository contains the ros2-control based controllers for the quadruped robot.

  • Controllers: contains the ros2-control controllers
  • Commands: contains command node used to send command to the controller
  • Descriptions: contains the urdf model of the robot
  • Hardwares: contains the ros2-control hardware interface for the robot

Todo List:

Video for Unitree Guide Controller:

Video for OCS2 Quadruped Controller:

Quick Start

  • rosdep
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
  • Compile the package
colcon build --packages-up-to unitree_guide_controller go2_description keyboard_input hardware_unitree_mujoco
  • Launch the unitree mujoco go2 simulation
  • Launch the ros2-control
source ~/ros2_ws/install/setup.bash
ros2 launch go2_description unitree_guide.launch.py
  • Run the keyboard control node
source ~/ros2_ws/install/setup.bash
ros2 run keyboard_input keyboard_input

For more details, please refer to the unitree guide controller and go2 description.