56 lines
1.4 KiB
Markdown
56 lines
1.4 KiB
Markdown
# Gazebo Quadruped Playground
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This folder contains the gazebo worlds and sensor models used for quadruped robot simulation.
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Tested environment:
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* Ubuntu 24.04 【ROS2 Jazzy】
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## Build
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```bash
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cd ~/ros2_ws
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colcon build --packages-up-to gz_quadruped_playground --symlink-install
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```
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## Launch Simulation
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* Unitree Guide Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch gz_quadruped_playground gazebo.launch.py
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```
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch gz_quadruped_playground gazebo.launch.py world:=warehouse
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```
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* OCS2 Quadruped Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch gz_quadruped_playground gazebo.launch.py controller:=ocs2
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```
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch gz_quadruped_playground gazebo.launch.py controller:=ocs2 world:=warehouse
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```
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## SLAM Test
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### Record Rosbag
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```bash
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cd ~/ros2_ws
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ros2 bag record /rgbd_d435/points /rgbd_d435/depth_image /scan/points /imu_sensor_broadcaster/imu /odom /tf /tf_static /joint_states
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```
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### Fast LIO
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch gz_quadruped_playground fast_lio.launch.py
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```
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## Related Materials
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* [Gazebo OdometryPublisher Plugin](https://gazebosim.org/api/sim/8/classgz_1_1sim_1_1systems_1_1OdometryPublisher.html#details)
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* [Gazebo Intel Realsense D435 RGBD camera](https://app.gazebosim.org/OpenRobotics/fuel/models/Intel%20RealSense%20D435) |