45 lines
1.0 KiB
Markdown
45 lines
1.0 KiB
Markdown
# Xiaomi Cyberdog Description
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This package contains the URDF description of the Xiaomi Cyberdog robot
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from [Cyberdog Simulator](https://github.com/MiRoboticsLab/cyberdog_simulator.git).
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## Build
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```bash
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cd ~/ros2_ws
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colcon build --packages-up-to cyberdog_description --symlink-install
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```
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## Visualize the robot
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To visualize and check the configuration of the robot in rviz, simply launch:
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch cyberdog_description visualize.launch.py
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```
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## Launch ROS2 Control
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### Mujoco Simulator
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* Unitree Guide Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch cyberdog_description unitree_guide.launch.py
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```
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* OCS2 Quadruped Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch cyberdog_description ocs2_control.launch.py
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```
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### Gazebo Simulator
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* Unitree Guide Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch cyberdog_description gazebo_unitree_guide.launch.py
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``` |