Go2 ROS2 control

A module containing ROS2 packages for launching Go2 in simulation.

Key packages

• go2_bringup

  Contains the main launch file main.launch.py One can pass an argument while launching this file, like:

  make run CTRL=unitree_guide

  or

  make run CTRL=rl

• go2_description

  Contains the model of the robot in xacro format and in urdf.

• controllers

  Contains rl_quadruped_controller and unitree_guide_controller.

  If you want to launch them from a separate launch file rather than the whole bringup launcher, use either of these commands:

  ros2 launch unitree_guide_controller mujoco.launch.py

  or:

  ros2 launch rl_quadruped_controller mujoco.launch.py