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x30_description 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 MIT
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 x30_description package

Additional Links

No additional links.

Maintainers

  • ZhenyuXu

Authors

No additional authors.
descriptions/deep_robotics/x30_description/README.md

DeepRobotics X30 Description

This repository contains the urdf model of x30.

x30

Tested environment:

  • Ubuntu 24.04
    • ROS2 Jazzy
  • Ubuntu 22.04
    • ROS2 Humble

Build

cd ~/ros2_ws
colcon build --packages-up-to x30_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 x30_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:=x30_description
  • OCS2 Quadruped Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=x30_description
  • RL Quadruped Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch rl_quadruped_controller mujoco.launch.py pkg_description:=x30_description model_folder:=legged_gym

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:=x30_description height:=0.64

Gazebo Harmonic (ROS2 Jazzy)

  • Unitree Guide Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=x30_description height:=0.64
  • Legged Gym Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch x30_description gazebo_rl_control.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

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 x30_description at Robotics Stack Exchange

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