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/unitree/go1_description
History
Zhenbiao Huang eeff28fb7a fix ocs2 performance under ubuntu 24.04 2024-10-18 22:22:07 +08:00
..
config fix ocs2 performance under ubuntu 24.04 2024-10-18 22:22:07 +08:00
launch ocs2 launch file refact 2024-10-18 11:47:31 +08:00
meshes modified folder structure 2024-10-01 13:48:49 +08:00
urdf modified folder structure 2024-10-01 13:48:49 +08:00
xacro add more gazebo simulation support 2024-10-10 22:44:32 +08:00
CMakeLists.txt modified folder structure 2024-10-01 13:48:49 +08:00
README.md ocs2 launch file refact 2024-10-18 11:47:31 +08:00
package.xml modified folder structure 2024-10-01 13:48:49 +08:00

README.md

Unitree Go1 Description

This repository contains the urdf model of go1.

go1

Build

cd ~/ros2_ws
colcon build --packages-up-to go1_description  --symlink-install

Visualize the robot

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

source ~/ros2_ws/install/setup.bash
ros2 launch go1_description visualize.launch.py

Launch ROS2 Control

Mujoco Simulator

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go1_description
  • OCS2 Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=go1_description

Gazebo Simulator

  • Unitree Guide Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch go1_description gazebo.launch.py