unitree go2 description - ros2 humble

This package contains the robot description files for the Unitree Go2 robot to be configured with the CHAMP controller in ROS 2 (humble). It includes development of robot description model for ROS 2 Humble distribution build over unitree_ros package.

Unitree Go2:

Unitree Robotics is focusing on the R&D, production, and sales of consumer and industry-class high-performance general-purpose legged and humanoid robots, six-axis manipulators, and so on. We attaches great importance to independent research and development and technological innovation, fully self-researching key core robot components such as motors, reducers, controllers, LIDAR and high-performance perception and motion control algorithms, integrating the entire robotics industry chain.

Resources:

• go2 description (URDF model)

Tested on:

• Ubuntu 22.04 (ROS2 Humble)

Current state of package:

• ✓ Robots Configurations.
  • ✓ Porting of robot description packages to ROS 2.
  • ✓ Porting of robot URDF to ROS2 (add new ros2_control tag).
  • ✓ Porting of robot configurationf to ROS2.
  • ✓ Porting of robot launch Files to ROS2.
• ✓ Upgrade go2 description model for ros2 humble
• ✓ Spawning go2 in gazebo environment. (launch using go2 config from champ)
• ✓ Working rviz only demo. (launch using go2 config from champ)
• ✓ Working Gazebo with teleoperated robot. (launch using go2 config from champ)
• ✓ Adding IMU
• ✗ Adding 2D LaserScan
• ✗ Adding Intel Realsense Depth Camera

1. Installation

1.1 Clone and install all dependencies:

sudo apt install -y python3-rosdep
rosdep update

cd <your_ws>/src
git clone https://github.com/anujjain-dev/go2_description.git -b ros2/humble
cd <your_ws>
rosdep install --from-paths src --ignore-src -r -y

1.2 Build your workspace:

cd <your_ws>
colcon build
. <your_ws>/install/setup.bash

Contributing

Contributions are welcome! Please feel free to submit a Pull Request.

1. Fork the repository
2. Create your feature branch (git checkout -b feature/AmazingFeature)
3. Commit your changes (git commit -m 'feat: Add some AmazingFeature')
4. Push to the branch (git push origin feature/AmazingFeature)
5. Open a Pull Request

Acknowledgements

This project builds upon and incorporates work from the following projects:

• Unitree Robotics - For the Go2 robot description (URDF model).
• CHAMP - For the quadruped controller framework.
• CHAMP Robots - For robot configurations and setup examples.

We are grateful to the developers and contributors of these projects for their valuable work.