Robocon Quadruped ROS2 Simulation

1. Start

1.1 Set Environment

• Ubuntu 22.04

• ROS: Humble

• Classic Gazebo

1.2 Create Workspace

mkdir -p quad_sim_ws/src
cd quad_sim_ws

git clone --recursive https://github.com/XjuHurricaneQuadVision/rc_quadruped_ros2_simulation.git

1.3 Build

• rosdep

rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y

• Compile the package

colcon build --symlink-install

1.4 Run

• 启动仿真环境

source install/setup.bash
ros2 launch rc_quadruped_ros2_simulation_bringup quad_sim_bringup.launch.py world_file:=warehouse

• 启动键盘控制

source install/setup.bash
ros2 run keyboard_input keyboard_input

Thanks

1. legubiao/quadruped_ros2_control

https://github.com/legubiao/quadruped_ros2_control