go1_description

This package contains the go1 description files. It works both with ROS and ROS 2 distros.

Dependencies

this package depends on the following:

• sensors_description
• velodyne_description sudo apt install ros-$ROS_DISTRO-velodyne-description

please clone it in the same workspace of go1_description.

Launch files

To see the robot description on rviz and interact with it:

• ROS:

roslaunch go1_description go1_rviz.launch sensors:=true

• ROS 2:

ros2 launch go1_description go1_rviz.launch.py

To upload robot description and start robot state publisher for rviz visualization purposes in real applications:

• ROS:

roslaunch go1_description upload.launch sensors:=true

• ROS 2:

ros2 launch go1_description upload.launch.py

To automatically launch RViz, launch:

ros2 launch go1_description upload.launch.py use_rviz:=true

by default use_rviz:=true is false.

Environment

We recommand users to run this package in Ubuntu 20.04 or 22.04 and ROS noetic, Foxy or Humble environment.

Authors

The package is provided by:

• Federico Rollo [Mantainer]
• Valentina Pericu [Mantainer]