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Package Summary
Tags | No category tags. |
Version | 0.0.0 |
License | MIT |
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 x30_description package
Additional Links
No additional links.
Maintainers
- ZhenyuXu
Authors
No additional authors.
DeepRobotics X30 Description
This repository contains the urdf model of 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
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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