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quadruped_ros2_control
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Gazebo Quadruped Playground

This folder contains the gazebo worlds and sensor models used for quadruped robot simulation.

Tested environment:

  • Ubuntu 24.04 【ROS2 Jazzy】

Build

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

Launch Simulation

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

    source ~/ros2_ws/install/setup.bash
ros2 launch gz_quadruped_playground gazebo.launch.py world:=warehouse
  • OCS2 Quadruped Controller 
    source ~/ros2_ws/install/setup.bash
ros2 launch gz_quadruped_playground gazebo.launch.py controller:=ocs2

    source ~/ros2_ws/install/setup.bash
ros2 launch gz_quadruped_playground gazebo.launch.py controller:=ocs2 world:=warehouse

SLAM Test

Record Rosbag

cd ~/ros2_ws
ros2 bag record /rgbd_d435/points /rgbd_d435/depth_image /scan/points /imu_sensor_broadcaster/imu /odom /tf /tf_static /joint_states

Fast LIO

source ~/ros2_ws/install/setup.bash
ros2 launch gz_quadruped_playground fast_lio.launch.py

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