lenilegoff / ros2_go1

ros2_go1

This repository will contain all the code to be able to use ros2 for the go1 both in simulation and with the real robot.

This repo will contain:

• Go1 xacro and urdf description
• gazebo config file
• all the messages necessary to communcate with the real robot
• IsaacGym interface

Install ros2 Humble for Ubuntu 22.04:

sudo apt install ros-humble-desktop-full ros-humble-gazebo-ros2-control ros-humble-ros2-control ros-humble-gazebo-plugins ros-humble-gazebo-ros-pkgs

Ros2 documentation: https://docs.ros.org/en/humble/index.html

Useful repos:

• https://github.com/snt-arg/unitree_ros
• https://github.com/katie-hughes/unitree_ros2
• https://github.com/unitreerobotics/unitree_ros2_to_real
• https://github.com/navneethooda/go1_description