44 lines
996 B
Markdown
44 lines
996 B
Markdown
# Unitree B2 Description
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This repository contains the urdf model of b2.
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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 b2_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 b2_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 unitree_guide_controller mujoco.launch.py pkg_description:=b2_description
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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 ocs2_quadruped_controller mujoco.launch.py pkg_description:=b2_description
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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 unitree_guide_controller gazebo.launch.py pkg_description:=b2_description height:=0.68
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``` |