unitree_ros/robots/b2_description/README.md

b2_urdf

This repository contains the urdf model of b2.

Build the library

Create a new catkin workspace:

# Create the directories
# Do not forget to change <...> parts
mkdir -p <directory_to_ws>/<catkin_ws_name>/src
cd <directory_to_ws>/<catkin_ws_name>/

# Initialize the catkin workspace
catkin init

Clone library:

# Navigate to the directory of src
# Do not forget to change <...> parts
cd <directory_to_ws>/<catkin_ws_name>/src
git clone git@github.com:unitreerobotics

Build:

# Build it
catkin build

# Source it
source <directory_to_ws>/<catkin_ws_name>/devel/setup.bash

Run the library

# Show urdf model of b2 in Rviz
roslaunch b2_description display.launch

support issac