This repository allows to simulate the robot go1 by unitree in gazebo using the configuration given by champ_setup_assistant. The kinematics of the robot are also generated by the champ package. The robot provided in this package has installed a Hokuyo laser and a Real Sense.
- The package is tested in Ubuntu 20.04 using ROS Noetic.
mkdir -p <catkin_workspace>/src
cd <catkin_workspace>
catkin_make
To run the repository these packages, as well as its dependencies, are required in the workspace:
- Champ. here
- Yocs velocity smoother. here
- Real Sense plugin edited. here
- Real Sense description. here
- Scan Tools. here
- Slam_gmapping with some modifications. here
cd <catkin_workspace>/src
git clone https://github.com/Taucrates/simulation_unitree_go1.git
cd ..
catkin_make
To run the files of the workspace the execution of source <PATH TO YOURWORKSPACE>/<catkin_workspace>/devel/setup.bash is required.
In this section is shown an example on how to use this package.
The robot spawned (unitree_go1) has a hokuyo laser and a Real Sense installed.
roslaunch go1_simulation go1_simulation.launch
This launch file start slam_gmapping, as well as scan_matcher as a odometry provider. Navigation stack uses the laser and the point cloud generated by the real sense to generate de costmaps, avoiding obstacles located in the ground.
roslaunch go1_simulation slam.launch rviz:=true