ROS IndexNo version for distro humble showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | ROS2-Control implementations for Quadruped robots, include sim2real |
| Checkout URI | https://github.com/legubiao/quadruped_ros2_control.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-06-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- Huang Zhenbiao
Authors
No additional authors.
Leg PD Controller
This package contains a simple PD controller for the leg joints of the quadruped robot. By using this controller, other ros2-control based on position control can also work on the hardware interface which only contain effort control (for example, gazebo ros2 control).
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
1. Interfaces
Provided interfaces:
- joint position
- joint velocity
- joint effort
- KP
- KD
Required hardware interfaces:
- command:
- joint effort
- state:
- joint position
- joint velocity
2. Build
cd ~/ros2_ws
colcon build --packages-up-to leg_pd_controller
3. Run
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged leg_pd_controller at Robotics Stack Exchange
No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | ROS2-Control implementations for Quadruped robots, include sim2real |
| Checkout URI | https://github.com/legubiao/quadruped_ros2_control.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-06-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- Huang Zhenbiao
Authors
No additional authors.
Leg PD Controller
This package contains a simple PD controller for the leg joints of the quadruped robot. By using this controller, other ros2-control based on position control can also work on the hardware interface which only contain effort control (for example, gazebo ros2 control).
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
1. Interfaces
Provided interfaces:
- joint position
- joint velocity
- joint effort
- KP
- KD
Required hardware interfaces:
- command:
- joint effort
- state:
- joint position
- joint velocity
2. Build
cd ~/ros2_ws
colcon build --packages-up-to leg_pd_controller
3. Run
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged leg_pd_controller at Robotics Stack Exchange
No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | ROS2-Control implementations for Quadruped robots, include sim2real |
| Checkout URI | https://github.com/legubiao/quadruped_ros2_control.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-06-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- Huang Zhenbiao
Authors
No additional authors.
Leg PD Controller
This package contains a simple PD controller for the leg joints of the quadruped robot. By using this controller, other ros2-control based on position control can also work on the hardware interface which only contain effort control (for example, gazebo ros2 control).
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
1. Interfaces
Provided interfaces:
- joint position
- joint velocity
- joint effort
- KP
- KD
Required hardware interfaces:
- command:
- joint effort
- state:
- joint position
- joint velocity
2. Build
cd ~/ros2_ws
colcon build --packages-up-to leg_pd_controller
3. Run
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged leg_pd_controller at Robotics Stack Exchange
No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | ROS2-Control implementations for Quadruped robots, include sim2real |
| Checkout URI | https://github.com/legubiao/quadruped_ros2_control.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-06-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- Huang Zhenbiao
Authors
No additional authors.
Leg PD Controller
This package contains a simple PD controller for the leg joints of the quadruped robot. By using this controller, other ros2-control based on position control can also work on the hardware interface which only contain effort control (for example, gazebo ros2 control).
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
1. Interfaces
Provided interfaces:
- joint position
- joint velocity
- joint effort
- KP
- KD
Required hardware interfaces:
- command:
- joint effort
- state:
- joint position
- joint velocity
2. Build
cd ~/ros2_ws
colcon build --packages-up-to leg_pd_controller
3. Run
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged leg_pd_controller at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | ROS2-Control implementations for Quadruped robots, include sim2real |
| Checkout URI | https://github.com/legubiao/quadruped_ros2_control.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-06-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- Huang Zhenbiao
Authors
No additional authors.
Leg PD Controller
This package contains a simple PD controller for the leg joints of the quadruped robot. By using this controller, other ros2-control based on position control can also work on the hardware interface which only contain effort control (for example, gazebo ros2 control).
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
1. Interfaces
Provided interfaces:
- joint position
- joint velocity
- joint effort
- KP
- KD
Required hardware interfaces:
- command:
- joint effort
- state:
- joint position
- joint velocity
2. Build
cd ~/ros2_ws
colcon build --packages-up-to leg_pd_controller
3. Run
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged leg_pd_controller at Robotics Stack Exchange
No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | ROS2-Control implementations for Quadruped robots, include sim2real |
| Checkout URI | https://github.com/legubiao/quadruped_ros2_control.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-06-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- Huang Zhenbiao
Authors
No additional authors.
Leg PD Controller
This package contains a simple PD controller for the leg joints of the quadruped robot. By using this controller, other ros2-control based on position control can also work on the hardware interface which only contain effort control (for example, gazebo ros2 control).
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
1. Interfaces
Provided interfaces:
- joint position
- joint velocity
- joint effort
- KP
- KD
Required hardware interfaces:
- command:
- joint effort
- state:
- joint position
- joint velocity
2. Build
cd ~/ros2_ws
colcon build --packages-up-to leg_pd_controller
3. Run
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged leg_pd_controller at Robotics Stack Exchange
No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | ROS2-Control implementations for Quadruped robots, include sim2real |
| Checkout URI | https://github.com/legubiao/quadruped_ros2_control.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-06-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- Huang Zhenbiao
Authors
No additional authors.
Leg PD Controller
This package contains a simple PD controller for the leg joints of the quadruped robot. By using this controller, other ros2-control based on position control can also work on the hardware interface which only contain effort control (for example, gazebo ros2 control).
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
1. Interfaces
Provided interfaces:
- joint position
- joint velocity
- joint effort
- KP
- KD
Required hardware interfaces:
- command:
- joint effort
- state:
- joint position
- joint velocity
2. Build
cd ~/ros2_ws
colcon build --packages-up-to leg_pd_controller
3. Run
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged leg_pd_controller at Robotics Stack Exchange
No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | ROS2-Control implementations for Quadruped robots, include sim2real |
| Checkout URI | https://github.com/legubiao/quadruped_ros2_control.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-06-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- Huang Zhenbiao
Authors
No additional authors.
Leg PD Controller
This package contains a simple PD controller for the leg joints of the quadruped robot. By using this controller, other ros2-control based on position control can also work on the hardware interface which only contain effort control (for example, gazebo ros2 control).
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
1. Interfaces
Provided interfaces:
- joint position
- joint velocity
- joint effort
- KP
- KD
Required hardware interfaces:
- command:
- joint effort
- state:
- joint position
- joint velocity
2. Build
cd ~/ros2_ws
colcon build --packages-up-to leg_pd_controller
3. Run
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged leg_pd_controller at Robotics Stack Exchange
No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | ROS2-Control implementations for Quadruped robots, include sim2real |
| Checkout URI | https://github.com/legubiao/quadruped_ros2_control.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-06-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- Huang Zhenbiao
Authors
No additional authors.
Leg PD Controller
This package contains a simple PD controller for the leg joints of the quadruped robot. By using this controller, other ros2-control based on position control can also work on the hardware interface which only contain effort control (for example, gazebo ros2 control).
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
1. Interfaces
Provided interfaces:
- joint position
- joint velocity
- joint effort
- KP
- KD
Required hardware interfaces:
- command:
- joint effort
- state:
- joint position
- joint velocity
2. Build
cd ~/ros2_ws
colcon build --packages-up-to leg_pd_controller
3. Run
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.