b2_description

Unitree B2 Description

This repository contains the urdf model of b2.

Build

cd ~/ros2_ws
colcon build --packages-up-to b2_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 b2_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:=b2_description

• OCS2 Quadruped Controller

  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=b2_description

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:=b2_description height:=0.68

Gazebo Harmonic (ROS2 Jazzy)

• Unitree Guide Controller

  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=b2_description height:=0.68