ROS index logo ROS Index
  1. Home
  2. Packages
  3. gz_quadruped_playground
 
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.

gz_quadruped_playground package from quadruped_ros2_control repo

control_input_msgs joystick_input keyboard_input unitree_joystick_input leg_pd_controller ocs2_quadruped_controller rl_quadruped_controller unitree_guide_controller anymal_c_description lite3_description x30_description a1_description aliengo_description b2_description go1_description go2_description cyberdog_description gz_quadruped_hardware hardware_unitree_mujoco controller_common gz_quadruped_playground qpoases_colcon

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description ROS2-Control implementations for Quadruped robots, include sim2real
Checkout URI https://github.com/legubiao/quadruped_ros2_control.git
VCS Type git
VCS Version main
Last Updated 2025-03-31
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The gazebo playground for quadruped robots

Additional Links

No additional links.

Maintainers

  • biao

Authors

No additional authors.
libraries/gz_quadruped_playground/README.md

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
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

Deps Name
xacro
joint_state_publisher
robot_state_publisher
imu_sensor_broadcaster
gz_quadruped_hardware

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 gz_quadruped_playground 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.