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Robocon Quadruped ROS2 Simulation

1. Start

1.1 Set Environment

  • Ubuntu 22.04

  • ROS: Humble

  • Ignition Gazebo Fortress:

1.2 Create Workspace

mkdir -p quad_sim_ws/src
cd quad_sim_ws

1.3 Build

  • rosdep
rosdep install --from-paths src --ignore-src -r -y
  • Compile the package
colcon build --symlink-install

1.4 Run

source install/setup.bash
ros2 launch rc_quadruped_ros2_simulation_bringup quad_sim_bringup.launch.py

Thanks

1. legubiao/quadruped_ros2_control

https://github.com/legubiao/quadruped_ros2_control