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/xiaomi/cyberdog_description/README.md

909 B
Raw Blame History

Xiaomi Cyberdog Description

This package contains the URDF description of the Xiaomi Cyberdog robot from Cyberdog Simulator.

Build

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

Visualize the robot

To visualize and check the configuration of the robot in rviz, simply launch:

source ~/ros2_ws/install/setup.bash
ros2 launch cyberdog_description visualize.launch.py

Launch the robot in gazebo

source ~/ros2_ws/install/setup.bash
ros2 launch cyberdog_description gazebo.launch.py

Launch ROS2 Control

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch cyberdog_description unitree_guide.launch.py
  • OCS2 Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch cyberdog_description ocs2_control.launch.py