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/quadruped_gazebo
History
Huang Zhenbiao ef11c036ad update README.md 2024-09-20 15:39:50 +08:00
..
config fix go1 gazebo visualization 2024-09-20 15:29:44 +08:00
launch can visualize and control gazebo robots 2024-09-20 12:48:45 +08:00
meshes init commit 2024-09-09 22:18:19 +08:00
urdf fix go1 gazebo visualization 2024-09-20 15:29:44 +08:00
CMakeLists.txt init commit 2024-09-09 22:18:19 +08:00
LICENSE init commit 2024-09-09 22:18:19 +08:00
README.md update README.md 2024-09-20 15:39:50 +08:00
package.xml init commit 2024-09-09 22:18:19 +08:00

README.md

Quadruped Gazebo

This package contains the description of the quadruped robot from Unitree Robotics, and the launch file to load them into the gazebo empty world.

Tested environment:

  • Ubuntu 24.04
    • ROS2 Jazzy
    • Gazebo Harmonic

Build

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

Visualize the robot

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

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

The default model is a1. To use another robot model, add the following argument:

source ~/ros2_ws/install/setup.bash
ros2 launch quadruped_gazebo visualize.launch.py robot_type:=go1

Launch the robot in gazebo

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

To use another robot model, add the following argument:

source ~/ros2_ws/install/setup.bash
ros2 launch quadruped_gazebo gazebo.launch.py robot_type:=go1