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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

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

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

API Docs Browse Code

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