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quadruped_ros2_control
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quadruped_ros2_control/controllers/unitree_guide_controller/readme.md

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Unitree Guide Controller

This is a ros2-control controller based on unitree guide. The original unitree guide project could be found here

cd ~/ros2_ws
colcon build --packages-up-to unitree_guide_controller

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller controller.launch.py