init

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+
+project(go2_description)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+foreach(dir config launch meshes urdf)
+	install(DIRECTORY ${dir}/
+		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)

LICENSE

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+BSD 3-Clause License
+
+Copyright (c) 2016-2022 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

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+## Unitree Go 2 Robot Description (URDF)
+
+
+URDF for Unitree Go 2 robot adapted from the original repository: https://github.com/unitreerobotics/unitree_ros/tree/master/robots/go2_description
+
+The model was originally released under a [BSD-3-Clause License](LICENSE).
+
+## Changes
+
+- Modified URDF asset paths to be relative and work

config/joint_names_go2_description.yaml

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+controller_joint_names: ['', 'FL_hip_joint', 'Fl_thigh_joint', 'FL_calf_joint', 'FR_hip_joint', 'FR_thigh_joint', 'FR_calf_joint', 'RL_hip_joint', 'RL_thigh_joint', 'RL_calf_joint', 'RR_hip_joint', 'RR_thigh_joint', 'RR_calf_joint', ]

config/robot_control.yaml

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+go2_gazebo:
+    # Publish all joint states -----------------------------------
+    joint_state_controller:
+        type: joint_state_controller/JointStateController
+        publish_rate: 1000  
+
+    # FL Controllers ---------------------------------------
+    FL_hip_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: FL_hip_joint
+        pid: {p: 100.0, i: 0.0, d: 5.0}
+
+    FL_thigh_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: FL_thigh_joint
+        pid: {p: 300.0, i: 0.0, d: 8.0}
+
+    FL_calf_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: FL_calf_joint
+        pid: {p: 300.0, i: 0.0, d: 8.0}
+
+    # FR Controllers ---------------------------------------
+    FR_hip_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: FR_hip_joint
+        pid: {p: 100.0, i: 0.0, d: 5.0}
+
+    FR_thigh_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: FR_thigh_joint
+        pid: {p: 300.0, i: 0.0, d: 8.0}
+
+    FR_calf_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: FR_calf_joint
+        pid: {p: 300.0, i: 0.0, d: 8.0}
+
+    # RL Controllers ---------------------------------------
+    RL_hip_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: RL_hip_joint
+        pid: {p: 100.0, i: 0.0, d: 5.0}
+
+    RL_thigh_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: RL_thigh_joint
+        pid: {p: 300.0, i: 0.0, d: 8.0}
+
+    RL_calf_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: RL_calf_joint
+        pid: {p: 300.0, i: 0.0, d: 8.0}
+
+    # RR Controllers ---------------------------------------
+    RR_hip_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: RR_hip_joint
+        pid: {p: 100.0, i: 0.0, d: 5.0}
+
+    RR_thigh_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: RR_thigh_joint
+        pid: {p: 300.0, i: 0.0, d: 8.0}
+
+    RR_calf_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: RR_calf_joint
+        pid: {p: 300.0, i: 0.0, d: 8.0}
+

launch/check_joint.rviz

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+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /TF1/Frames1
+      Splitter Ratio: 0.5
+    Tree Height: 746
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 85; 87; 83
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        FL_calf:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FL_foot:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FL_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FR_calf:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FR_foot:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FR_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FR_thigh:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        Fl_thigh:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        Link Tree Style: Links in Alphabetic Order
+        RL_calf:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RL_foot:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RL_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RL_thigh:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RR_calf:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RR_foot:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RR_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RR_thigh:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        imu:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        radar:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Alpha: 1
+      Marker Scale: 0.4000000059604645
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /link_inertias_viz
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 238; 238; 236
+    Default Light: true
+    Fixed Frame: base
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 0.7113326191902161
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0.14559818804264069
+        Y: 0.02902654930949211
+        Z: -0.1431877315044403
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5047972798347473
+      Target Frame: <Fixed Frame>
+      Yaw: 0.7604149580001831
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1043
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000375fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000375000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000375fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000375000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000006240000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 1920
+  Y: 0