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quadruped_ros2_control
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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