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quadruped_ros2_control repository

control_input_msgs joystick_input keyboard_input unitree_joystick_input leg_pd_controller ocs2_quadruped_controller rl_quadruped_controller unitree_guide_controller anymal_c_description lite3_description x30_description cyberdog_description magicdog_description a1_description aliengo_description b2_description go1_description go2_description gz_quadruped_hardware hardware_unitree_sdk2 controller_common gz_quadruped_playground qpoases_colcon

ROS Distro
github

Repository Summary

Description
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
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
control_input_msgs	0.0.0
joystick_input	0.0.0
keyboard_input	0.0.0
unitree_joystick_input	0.0.0
leg_pd_controller	0.0.0
ocs2_quadruped_controller	0.0.0
rl_quadruped_controller	0.0.0
unitree_guide_controller	0.0.0
anymal_c_description	0.0.0
lite3_description	0.0.0
x30_description	0.0.0
cyberdog_description	0.0.0
magicdog_description	0.0.0
a1_description	0.0.0
aliengo_description	0.0.0
b2_description	1.0.0
go1_description	0.0.0
go2_description	1.0.0
gz_quadruped_hardware	2.0.6
hardware_unitree_sdk2	0.0.0
controller_common	0.0.0
gz_quadruped_playground	0.0.0
qpoases_colcon	0.0.0

README

Quadruped ROS2 Control

This repository contains the ros2-control based controllers for the quadruped robot.

Controllers: contains the ros2-control controllers
Commands: contains command node used to send command to the controller
Descriptions: contains the urdf model of the robot
Hardwares: contains the ros2-control hardware interface for the robot

Warning: Default branch was developed under ROS2 Jazzy. For ROS2 Humble, please check out humble branch.

Todo List:

[2025-02-23] Add Gazebo Playground
- OCS2 controller for Gazebo Simulation
- Refactor FSM and Unitree Guide Controller
[2025-03-30] Add Real Go2 Robot Support
[2025-05-20] Isaac Sim Support
OCS2 Perceptive locomotion demo

Video on Real Unitree Go2 Robot:

1. Quick Start

rosdep

    cd ~/ros2_ws
    rosdep install --from-paths src --ignore-src -r -y
    

Compile the package

    colcon build --packages-up-to unitree_guide_controller go2_description keyboard_input --symlink-install
    

1.1 Mujoco Simulator or Real Unitree Robot

Warning: CycloneDDS ROS2 RMW may conflict with unitree_sdk2. If you cannot launch unitree mujoco simulation without sudo, then you cannot used unitree_mujoco_hardware. This conflict could be solved by one of below two methods:

Uninstall CycloneDDS ROS2 RMW, used another ROS2 RMW, such as FastDDS [Recommended].

Follow the guide in unitree_ros2 to configure the ROS2 RMW by compiling cyclone dds.

Compile Unitree Hardware Interfaces

    cd ~/ros2_ws
    colcon build --packages-up-to hardware_unitree_sdk2
    

Follow the guide in unitree_mujoco to launch the unitree mujoco go2 simulation
Launch the ros2-control

    source ~/ros2_ws/install/setup.bash
    ros2 launch unitree_guide_controller mujoco.launch.py
    

Run the keyboard control node

    source ~/ros2_ws/install/setup.bash
    ros2 run keyboard_input keyboard_input
    

mujoco

1.3 Gazebo Harmonic Simulator

Install Gazebo

  sudo apt-get install ros-jazzy-ros-gz

Compile Gazebo Playground

  colcon build --packages-up-to gz_quadruped_playground --symlink-install

Launch the ros2-control

  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller gazebo.launch.py
  

Run the keyboard control node

    source ~/ros2_ws/install/setup.bash
    ros2 run keyboard_input keyboard_input
    

gazebo

For more details, please refer to the unitree guide controller and go2 description.

What’s Next

Congratulations! You have successfully launched the quadruped robot in the simulation. Here are some suggestions for you to have a try:

More Robot Models could be found at description
Try more controllers.
- OCS2 Quadruped Controller: Robust MPC-based controller for quadruped robot
- RL Quadruped Controller: Reinforcement learning controller for quadruped robot
Simulate with more sensors
- Gazebo Quadruped Playground: Provide gazebo simulation with lidar or depth camera.
Real Robot Deploy
- Unitree Go2 Robot: Check here about how to deploy on go2 robot.

File truncated at 100 lines see the full file

CONTRIBUTING

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