quadruped_ros2_control/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:

• Mujoco Simulation
• Unitree Guide Controller
• Gazebo Simulation
• Leg PD Controller
• Contact Sensor Simulation
• OCS2 Quadruped Control
• Learning-based Controller

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.