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No version for distro humble showing github. Known supported distros are highlighted in the buttons above.
Package symbol

cyberdog_description package from quadruped_ros2_control repo

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

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License TODO
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

The cyberdog package

Additional Links

No additional links.

Maintainers

  • You Yangwei
  • Sun Chenguang

Authors

No additional authors.
descriptions/magiclab&xiaomi/cyberdog_description/README.md

Xiaomi Cyberdog Description

This package contains the URDF description of the Xiaomi Cyberdog robot from Cyberdog Simulator.

cyberdog

Build

cd ~/ros2_ws
colcon build --packages-up-to cyberdog_description --symlink-install

Visualize the robot

To visualize and check the configuration of the robot in rviz, simply launch:

source ~/ros2_ws/install/setup.bash
ros2 launch cyberdog_description visualize.launch.py

Launch ROS2 Control

Mujoco Simulator

  • Unitree Guide Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=cyberdog_description
  • OCS2 Quadruped Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=cyberdog_description

Gazebo Harmonic

  • Unitree Guide Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=cyberdog_description height:=0.31
  • OCS2 Quadruped Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_quadruped_controller gazebo.launch.py pkg_description:=cyberdog_description height:=0.31
CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
rclcpp
std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
cyberdog_simulator

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged cyberdog_description at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
Package symbol

cyberdog_description package from quadruped_ros2_control repo

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

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License TODO
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

The cyberdog package

Additional Links

No additional links.

Maintainers

  • You Yangwei
  • Sun Chenguang

Authors

No additional authors.
descriptions/magiclab&xiaomi/cyberdog_description/README.md

Xiaomi Cyberdog Description

This package contains the URDF description of the Xiaomi Cyberdog robot from Cyberdog Simulator.

cyberdog

Build

cd ~/ros2_ws
colcon build --packages-up-to cyberdog_description --symlink-install

Visualize the robot

To visualize and check the configuration of the robot in rviz, simply launch:

source ~/ros2_ws/install/setup.bash
ros2 launch cyberdog_description visualize.launch.py

Launch ROS2 Control

Mujoco Simulator

  • Unitree Guide Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=cyberdog_description
  • OCS2 Quadruped Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=cyberdog_description

Gazebo Harmonic

  • Unitree Guide Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=cyberdog_description height:=0.31
  • OCS2 Quadruped Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_quadruped_controller gazebo.launch.py pkg_description:=cyberdog_description height:=0.31
CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
rclcpp
std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
cyberdog_simulator

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged cyberdog_description at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Package symbol

cyberdog_description package from quadruped_ros2_control repo

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

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License TODO
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

The cyberdog package

Additional Links

No additional links.

Maintainers

  • You Yangwei
  • Sun Chenguang

Authors

No additional authors.
descriptions/magiclab&xiaomi/cyberdog_description/README.md

Xiaomi Cyberdog Description

This package contains the URDF description of the Xiaomi Cyberdog robot from Cyberdog Simulator.

cyberdog

Build

cd ~/ros2_ws
colcon build --packages-up-to cyberdog_description --symlink-install

Visualize the robot

To visualize and check the configuration of the robot in rviz, simply launch:

source ~/ros2_ws/install/setup.bash
ros2 launch cyberdog_description visualize.launch.py

Launch ROS2 Control

Mujoco Simulator

  • Unitree Guide Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=cyberdog_description
  • OCS2 Quadruped Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=cyberdog_description

Gazebo Harmonic

  • Unitree Guide Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=cyberdog_description height:=0.31
  • OCS2 Quadruped Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_quadruped_controller gazebo.launch.py pkg_description:=cyberdog_description height:=0.31
CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
rclcpp
std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
cyberdog_simulator

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged cyberdog_description at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Package symbol

cyberdog_description package from quadruped_ros2_control repo

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

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License TODO
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

The cyberdog package

Additional Links

No additional links.

Maintainers

  • You Yangwei
  • Sun Chenguang

Authors

No additional authors.
descriptions/magiclab&xiaomi/cyberdog_description/README.md

Xiaomi Cyberdog Description

This package contains the URDF description of the Xiaomi Cyberdog robot from Cyberdog Simulator.

cyberdog

Build

cd ~/ros2_ws
colcon build --packages-up-to cyberdog_description --symlink-install

Visualize the robot

To visualize and check the configuration of the robot in rviz, simply launch:

source ~/ros2_ws/install/setup.bash
ros2 launch cyberdog_description visualize.launch.py

Launch ROS2 Control

Mujoco Simulator

  • Unitree Guide Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=cyberdog_description
  • OCS2 Quadruped Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=cyberdog_description

Gazebo Harmonic

  • Unitree Guide Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=cyberdog_description height:=0.31
  • OCS2 Quadruped Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_quadruped_controller gazebo.launch.py pkg_description:=cyberdog_description height:=0.31
CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
rclcpp
std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
cyberdog_simulator

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged cyberdog_description at Robotics Stack Exchange

Package symbol

cyberdog_description package from quadruped_ros2_control repo

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

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License TODO
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

The cyberdog package

Additional Links

No additional links.

Maintainers

  • You Yangwei
  • Sun Chenguang

Authors

No additional authors.
descriptions/magiclab&xiaomi/cyberdog_description/README.md

Xiaomi Cyberdog Description

This package contains the URDF description of the Xiaomi Cyberdog robot from Cyberdog Simulator.

cyberdog

Build

cd ~/ros2_ws
colcon build --packages-up-to cyberdog_description --symlink-install

Visualize the robot

To visualize and check the configuration of the robot in rviz, simply launch:

source ~/ros2_ws/install/setup.bash
ros2 launch cyberdog_description visualize.launch.py

Launch ROS2 Control

Mujoco Simulator

  • Unitree Guide Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=cyberdog_description
  • OCS2 Quadruped Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=cyberdog_description

Gazebo Harmonic

  • Unitree Guide Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=cyberdog_description height:=0.31
  • OCS2 Quadruped Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_quadruped_controller gazebo.launch.py pkg_description:=cyberdog_description height:=0.31
CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
rclcpp
std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
cyberdog_simulator

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged cyberdog_description at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

cyberdog_description package from quadruped_ros2_control repo

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

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License TODO
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

The cyberdog package

Additional Links

No additional links.

Maintainers

  • You Yangwei
  • Sun Chenguang

Authors

No additional authors.
descriptions/magiclab&xiaomi/cyberdog_description/README.md

Xiaomi Cyberdog Description

This package contains the URDF description of the Xiaomi Cyberdog robot from Cyberdog Simulator.

cyberdog

Build

cd ~/ros2_ws
colcon build --packages-up-to cyberdog_description --symlink-install

Visualize the robot

To visualize and check the configuration of the robot in rviz, simply launch:

source ~/ros2_ws/install/setup.bash
ros2 launch cyberdog_description visualize.launch.py

Launch ROS2 Control

Mujoco Simulator

  • Unitree Guide Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=cyberdog_description
  • OCS2 Quadruped Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=cyberdog_description

Gazebo Harmonic

  • Unitree Guide Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=cyberdog_description height:=0.31
  • OCS2 Quadruped Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_quadruped_controller gazebo.launch.py pkg_description:=cyberdog_description height:=0.31
CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
rclcpp
std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
cyberdog_simulator

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged cyberdog_description at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Package symbol

cyberdog_description package from quadruped_ros2_control repo

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

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License TODO
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

The cyberdog package

Additional Links

No additional links.

Maintainers

  • You Yangwei
  • Sun Chenguang

Authors

No additional authors.
descriptions/magiclab&xiaomi/cyberdog_description/README.md

Xiaomi Cyberdog Description

This package contains the URDF description of the Xiaomi Cyberdog robot from Cyberdog Simulator.

cyberdog

Build

cd ~/ros2_ws
colcon build --packages-up-to cyberdog_description --symlink-install

Visualize the robot

To visualize and check the configuration of the robot in rviz, simply launch:

source ~/ros2_ws/install/setup.bash
ros2 launch cyberdog_description visualize.launch.py

Launch ROS2 Control

Mujoco Simulator

  • Unitree Guide Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=cyberdog_description
  • OCS2 Quadruped Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=cyberdog_description

Gazebo Harmonic

  • Unitree Guide Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=cyberdog_description height:=0.31
  • OCS2 Quadruped Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_quadruped_controller gazebo.launch.py pkg_description:=cyberdog_description height:=0.31
CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
rclcpp
std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
cyberdog_simulator

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged cyberdog_description at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

cyberdog_description package from quadruped_ros2_control repo

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

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.0.0
License TODO
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

The cyberdog package

Additional Links

No additional links.

Maintainers

  • You Yangwei
  • Sun Chenguang

Authors

No additional authors.
descriptions/magiclab&xiaomi/cyberdog_description/README.md

Xiaomi Cyberdog Description

This package contains the URDF description of the Xiaomi Cyberdog robot from Cyberdog Simulator.

cyberdog

Build

cd ~/ros2_ws
colcon build --packages-up-to cyberdog_description --symlink-install

Visualize the robot

To visualize and check the configuration of the robot in rviz, simply launch:

source ~/ros2_ws/install/setup.bash
ros2 launch cyberdog_description visualize.launch.py

Launch ROS2 Control

Mujoco Simulator

  • Unitree Guide Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=cyberdog_description
  • OCS2 Quadruped Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=cyberdog_description

Gazebo Harmonic

  • Unitree Guide Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=cyberdog_description height:=0.31
  • OCS2 Quadruped Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_quadruped_controller gazebo.launch.py pkg_description:=cyberdog_description height:=0.31
CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
rclcpp
std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
cyberdog_simulator

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged cyberdog_description at Robotics Stack Exchange

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

cyberdog_description package from quadruped_ros2_control repo

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

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.0.0
License TODO
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

The cyberdog package

Additional Links

No additional links.

Maintainers

  • You Yangwei
  • Sun Chenguang

Authors

No additional authors.
descriptions/magiclab&xiaomi/cyberdog_description/README.md

Xiaomi Cyberdog Description

This package contains the URDF description of the Xiaomi Cyberdog robot from Cyberdog Simulator.

cyberdog

Build

cd ~/ros2_ws
colcon build --packages-up-to cyberdog_description --symlink-install

Visualize the robot

To visualize and check the configuration of the robot in rviz, simply launch:

source ~/ros2_ws/install/setup.bash
ros2 launch cyberdog_description visualize.launch.py

Launch ROS2 Control

Mujoco Simulator

  • Unitree Guide Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=cyberdog_description
  • OCS2 Quadruped Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=cyberdog_description

Gazebo Harmonic

  • Unitree Guide Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=cyberdog_description height:=0.31
  • OCS2 Quadruped Controller
  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_quadruped_controller gazebo.launch.py pkg_description:=cyberdog_description height:=0.31
CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_cmake
rclcpp
std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
cyberdog_simulator

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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