No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
Package Summary
Tags | No category tags. |
Version | 1.0.0 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/legubiao/quadruped_ros2_control.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-03-31 |
Dev Status | UNMAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
No additional links.
Maintainers
No known maintainers.
Authors
- Unitree Robotics
Unitree B2 Description
This repository contains the urdf model of b2.
Build
cd ~/ros2_ws
colcon build --packages-up-to b2_description --symlink-install
Visualize the robot
To visualize and check the configuration of the robot in rviz, simply launch:
source ~/ros2_ws/install/setup.bash
ros2 launch b2_description visualize.launch.py
Launch ROS2 Control
Mujoco Simulator
- Unitree Guide Controller
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=b2_description
- OCS2 Quadruped Controller
source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=b2_description
Gazebo Classic 11 (ROS2 Humble)
- Unitree Guide Controller
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo_classic.launch.py pkg_description:=b2_description height:=0.68
Gazebo Harmonic (ROS2 Jazzy)
- Unitree Guide Controller
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=b2_description height:=0.68
- OCS2 Quadruped Controller
source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_quadruped_controller gazebo.launch.py pkg_description:=b2_description height:=0.68
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged b2_description at Robotics Stack Exchange
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.