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
A Ros2 Control Controller based on Unitree Guide
Additional Links
No additional links.
Maintainers
- Huang Zhenbiao
Authors
No additional authors.
Unitree Guide Controller
This is a ros2-control controller based on unitree guide. The original unitree guide project could be found here. I used KDL for the kinematic and dynamic calculation, so the controller performance has difference with the original one (sometimes very unstable).
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
- Ubuntu 22.04
- ROS2 Humble
1. Interfaces
Required hardware interfaces:
- command:
- joint position
- joint velocity
- joint effort
- KP
- KD
- state:
- joint effort
- joint position
- joint velocity
- imu sensor
- linear acceleration
- angular velocity
- orientation
2. Build
cd ~/ros2_ws
colcon build --packages-up-to unitree_guide_controller
3. Launch
3.1 Mujoco Simulation
Warm Reminder: You need to launch Unitree Mujoco C++ Simulation before launch the controller.
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go2_description
3.2 Gazebo Harmonic
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=go2_description
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| controller_manager | |
| joint_state_broadcaster | |
| ament_lint_auto | |
| ament_lint_common | |
| backward_ros | |
| controller_interface | |
| controller_common | |
| pluginlib | |
| control_input_msgs | |
| kdl_parser |
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 unitree_guide_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
A Ros2 Control Controller based on Unitree Guide
Additional Links
No additional links.
Maintainers
- Huang Zhenbiao
Authors
No additional authors.
Unitree Guide Controller
This is a ros2-control controller based on unitree guide. The original unitree guide project could be found here. I used KDL for the kinematic and dynamic calculation, so the controller performance has difference with the original one (sometimes very unstable).
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
- Ubuntu 22.04
- ROS2 Humble
1. Interfaces
Required hardware interfaces:
- command:
- joint position
- joint velocity
- joint effort
- KP
- KD
- state:
- joint effort
- joint position
- joint velocity
- imu sensor
- linear acceleration
- angular velocity
- orientation
2. Build
cd ~/ros2_ws
colcon build --packages-up-to unitree_guide_controller
3. Launch
3.1 Mujoco Simulation
Warm Reminder: You need to launch Unitree Mujoco C++ Simulation before launch the controller.
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go2_description
3.2 Gazebo Harmonic
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=go2_description
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| controller_manager | |
| joint_state_broadcaster | |
| ament_lint_auto | |
| ament_lint_common | |
| backward_ros | |
| controller_interface | |
| controller_common | |
| pluginlib | |
| control_input_msgs | |
| kdl_parser |
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 unitree_guide_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
A Ros2 Control Controller based on Unitree Guide
Additional Links
No additional links.
Maintainers
- Huang Zhenbiao
Authors
No additional authors.
Unitree Guide Controller
This is a ros2-control controller based on unitree guide. The original unitree guide project could be found here. I used KDL for the kinematic and dynamic calculation, so the controller performance has difference with the original one (sometimes very unstable).
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
- Ubuntu 22.04
- ROS2 Humble
1. Interfaces
Required hardware interfaces:
- command:
- joint position
- joint velocity
- joint effort
- KP
- KD
- state:
- joint effort
- joint position
- joint velocity
- imu sensor
- linear acceleration
- angular velocity
- orientation
2. Build
cd ~/ros2_ws
colcon build --packages-up-to unitree_guide_controller
3. Launch
3.1 Mujoco Simulation
Warm Reminder: You need to launch Unitree Mujoco C++ Simulation before launch the controller.
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go2_description
3.2 Gazebo Harmonic
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=go2_description
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| controller_manager | |
| joint_state_broadcaster | |
| ament_lint_auto | |
| ament_lint_common | |
| backward_ros | |
| controller_interface | |
| controller_common | |
| pluginlib | |
| control_input_msgs | |
| kdl_parser |
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 unitree_guide_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
A Ros2 Control Controller based on Unitree Guide
Additional Links
No additional links.
Maintainers
- Huang Zhenbiao
Authors
No additional authors.
Unitree Guide Controller
This is a ros2-control controller based on unitree guide. The original unitree guide project could be found here. I used KDL for the kinematic and dynamic calculation, so the controller performance has difference with the original one (sometimes very unstable).
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
- Ubuntu 22.04
- ROS2 Humble
1. Interfaces
Required hardware interfaces:
- command:
- joint position
- joint velocity
- joint effort
- KP
- KD
- state:
- joint effort
- joint position
- joint velocity
- imu sensor
- linear acceleration
- angular velocity
- orientation
2. Build
cd ~/ros2_ws
colcon build --packages-up-to unitree_guide_controller
3. Launch
3.1 Mujoco Simulation
Warm Reminder: You need to launch Unitree Mujoco C++ Simulation before launch the controller.
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go2_description
3.2 Gazebo Harmonic
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=go2_description
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| controller_manager | |
| joint_state_broadcaster | |
| ament_lint_auto | |
| ament_lint_common | |
| backward_ros | |
| controller_interface | |
| controller_common | |
| pluginlib | |
| control_input_msgs | |
| kdl_parser |
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 unitree_guide_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
A Ros2 Control Controller based on Unitree Guide
Additional Links
No additional links.
Maintainers
- Huang Zhenbiao
Authors
No additional authors.
Unitree Guide Controller
This is a ros2-control controller based on unitree guide. The original unitree guide project could be found here. I used KDL for the kinematic and dynamic calculation, so the controller performance has difference with the original one (sometimes very unstable).
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
- Ubuntu 22.04
- ROS2 Humble
1. Interfaces
Required hardware interfaces:
- command:
- joint position
- joint velocity
- joint effort
- KP
- KD
- state:
- joint effort
- joint position
- joint velocity
- imu sensor
- linear acceleration
- angular velocity
- orientation
2. Build
cd ~/ros2_ws
colcon build --packages-up-to unitree_guide_controller
3. Launch
3.1 Mujoco Simulation
Warm Reminder: You need to launch Unitree Mujoco C++ Simulation before launch the controller.
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go2_description
3.2 Gazebo Harmonic
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=go2_description
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| controller_manager | |
| joint_state_broadcaster | |
| ament_lint_auto | |
| ament_lint_common | |
| backward_ros | |
| controller_interface | |
| controller_common | |
| pluginlib | |
| control_input_msgs | |
| kdl_parser |
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 unitree_guide_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
A Ros2 Control Controller based on Unitree Guide
Additional Links
No additional links.
Maintainers
- Huang Zhenbiao
Authors
No additional authors.
Unitree Guide Controller
This is a ros2-control controller based on unitree guide. The original unitree guide project could be found here. I used KDL for the kinematic and dynamic calculation, so the controller performance has difference with the original one (sometimes very unstable).
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
- Ubuntu 22.04
- ROS2 Humble
1. Interfaces
Required hardware interfaces:
- command:
- joint position
- joint velocity
- joint effort
- KP
- KD
- state:
- joint effort
- joint position
- joint velocity
- imu sensor
- linear acceleration
- angular velocity
- orientation
2. Build
cd ~/ros2_ws
colcon build --packages-up-to unitree_guide_controller
3. Launch
3.1 Mujoco Simulation
Warm Reminder: You need to launch Unitree Mujoco C++ Simulation before launch the controller.
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go2_description
3.2 Gazebo Harmonic
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=go2_description
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| controller_manager | |
| joint_state_broadcaster | |
| ament_lint_auto | |
| ament_lint_common | |
| backward_ros | |
| controller_interface | |
| controller_common | |
| pluginlib | |
| control_input_msgs | |
| kdl_parser |
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 unitree_guide_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
A Ros2 Control Controller based on Unitree Guide
Additional Links
No additional links.
Maintainers
- Huang Zhenbiao
Authors
No additional authors.
Unitree Guide Controller
This is a ros2-control controller based on unitree guide. The original unitree guide project could be found here. I used KDL for the kinematic and dynamic calculation, so the controller performance has difference with the original one (sometimes very unstable).
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
- Ubuntu 22.04
- ROS2 Humble
1. Interfaces
Required hardware interfaces:
- command:
- joint position
- joint velocity
- joint effort
- KP
- KD
- state:
- joint effort
- joint position
- joint velocity
- imu sensor
- linear acceleration
- angular velocity
- orientation
2. Build
cd ~/ros2_ws
colcon build --packages-up-to unitree_guide_controller
3. Launch
3.1 Mujoco Simulation
Warm Reminder: You need to launch Unitree Mujoco C++ Simulation before launch the controller.
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go2_description
3.2 Gazebo Harmonic
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=go2_description
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| controller_manager | |
| joint_state_broadcaster | |
| ament_lint_auto | |
| ament_lint_common | |
| backward_ros | |
| controller_interface | |
| controller_common | |
| pluginlib | |
| control_input_msgs | |
| kdl_parser |
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 unitree_guide_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
A Ros2 Control Controller based on Unitree Guide
Additional Links
No additional links.
Maintainers
- Huang Zhenbiao
Authors
No additional authors.
Unitree Guide Controller
This is a ros2-control controller based on unitree guide. The original unitree guide project could be found here. I used KDL for the kinematic and dynamic calculation, so the controller performance has difference with the original one (sometimes very unstable).
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
- Ubuntu 22.04
- ROS2 Humble
1. Interfaces
Required hardware interfaces:
- command:
- joint position
- joint velocity
- joint effort
- KP
- KD
- state:
- joint effort
- joint position
- joint velocity
- imu sensor
- linear acceleration
- angular velocity
- orientation
2. Build
cd ~/ros2_ws
colcon build --packages-up-to unitree_guide_controller
3. Launch
3.1 Mujoco Simulation
Warm Reminder: You need to launch Unitree Mujoco C++ Simulation before launch the controller.
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go2_description
3.2 Gazebo Harmonic
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=go2_description
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| controller_manager | |
| joint_state_broadcaster | |
| ament_lint_auto | |
| ament_lint_common | |
| backward_ros | |
| controller_interface | |
| controller_common | |
| pluginlib | |
| control_input_msgs | |
| kdl_parser |
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 unitree_guide_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
A Ros2 Control Controller based on Unitree Guide
Additional Links
No additional links.
Maintainers
- Huang Zhenbiao
Authors
No additional authors.
Unitree Guide Controller
This is a ros2-control controller based on unitree guide. The original unitree guide project could be found here. I used KDL for the kinematic and dynamic calculation, so the controller performance has difference with the original one (sometimes very unstable).
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
- Ubuntu 22.04
- ROS2 Humble
1. Interfaces
Required hardware interfaces:
- command:
- joint position
- joint velocity
- joint effort
- KP
- KD
- state:
- joint effort
- joint position
- joint velocity
- imu sensor
- linear acceleration
- angular velocity
- orientation
2. Build
cd ~/ros2_ws
colcon build --packages-up-to unitree_guide_controller
3. Launch
3.1 Mujoco Simulation
Warm Reminder: You need to launch Unitree Mujoco C++ Simulation before launch the controller.
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go2_description
3.2 Gazebo Harmonic
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=go2_description
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| controller_manager | |
| joint_state_broadcaster | |
| ament_lint_auto | |
| ament_lint_common | |
| backward_ros | |
| controller_interface | |
| controller_common | |
| pluginlib | |
| control_input_msgs | |
| kdl_parser |
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.