Gazebo Simulation Integration

[jasonjabbour]

Hi, thanks for the helpful repo! I would like to first run a simulation of the Go2 with this autonomy stack instead of using the physical Go2. Is there an integration with Gazebo that we could potentially use?

I have seen the Isaac Sim repo but I would like to stick with Gazebo due to other constraints of mine.

Thanks!

[tfoldi]

have you tried this https://github.com/anujjain-dev/unitree-go2-ros2 ?

[jasonjabbour]

@tfoldi Thanks! Yea, I ended up settling on that repo. It only has a working teleoperated controller, so I'm currently working on adding autonomous navigation to the stack. Exploring the slam_toolbox and nav2.

I'm also not sure how easy it will be to transfer that stack to the real Go2 quadruped once it's time, but I guess we will find out soon 🙃