EmbodiedAI
/
quadruped_ros2_control
mirror of https://github.com/legubiao/quadruped_ros2_control.git
3
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
quadruped_ros2_control/descriptions/deep_robotics/lite3_description/README.md

1.2 KiB
Raw Blame History

DeepRobotic Lite3 Description

This repository contains the urdf model of lite3.

Tested environment:

  • Ubuntu 24.04
    • ROS2 Jazzy

Build

cd ~/ros2_ws
colcon build --packages-up-to lite3_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 lite3_description visualize.launch.py

Launch ROS2 Control

Mujoco Simulator

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch lite3_description unitree_guide.launch.py
  • OCS2 Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch a1_description ocs2_control.launch.py
  • Legged Gym Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch a1_description rl_control.launch.py

Gazebo Simulator

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch lite3_description gazebo_unitree_guide.launch.py
  • Legged Gym Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch lite3_description gazebo_rl_control.launch.py