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quadruped_ros2_control
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quadruped_ros2_control/README.md

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Quadruped ROS2 Control

This repository contains the ros2-control based controllers for the quadruped robot.

  • Controllers: contains the ros2-control controllers
  • Commands: contains command node used to send command to the controller
  • Descriptions: contains the urdf model of the robot
  • Hardwares: contains the ros2-control hardware interface for the robot

Todo List:

  • Mujoco Simulation
  • Unitree Guide Controller
  • Gazebo Simulation
  • Leg PD Controller
  • Contact Sensor
  • OCS2 Legged Control

Video for Unitree Guide Controller:

1. Build

  • rosdep
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y