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quadruped_ros2_control
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quadruped_ros2_control/descriptions/unitree/a1_description
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Huang Zhenbiao 979e3228b3 load joint names and feet names from config file 2024-10-02 13:45:21 +08:00
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config load joint names and feet names from config file 2024-10-02 13:45:21 +08:00
launch load joint names and feet names from config file 2024-10-02 13:45:21 +08:00
meshes add support for unitree A1 simulation 2024-10-01 19:54:17 +08:00
urdf add support for unitree A1 simulation 2024-10-01 19:54:17 +08:00
xacro add support for unitree A1 simulation 2024-10-01 19:54:17 +08:00
CMakeLists.txt add support for unitree A1 simulation 2024-10-01 19:54:17 +08:00
README.md add support for unitree A1 simulation 2024-10-01 19:54:17 +08:00
package.xml add support for unitree A1 simulation 2024-10-01 19:54:17 +08:00

README.md

Unitree A1 Description

This repository contains the urdf model of A1.

Aliengo

Tested environment:

  • Ubuntu 24.04
    • ROS2 Jazzy

Build

cd ~/ros2_ws
colcon build --packages-up-to a1_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 a1_description visualize.launch.py

Launch ROS2 Control

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