Go1 Description

Author: Katie Hughes

This is a ros2 package to visualize the Unitree Go1 in rviz.

The URDF and meshes were taken from the unitree_ros package, and modified for use in ros2.

To Run:

Run ros2 launch go1_description visualize.launch.py to see the Go1 in rviz with the jsp_gui.

Launch Arguments:

• use_jsp: Choose if joint_state_publisher is launched. Valid choices are: ['gui', 'jsp', 'none']. Default is 'gui'.
• use_rviz: Choose if rviz is launched. Valid choices are: ['true', 'false']. Default is 'true'.
• use_gz: Choose if gazebo is launched. Valid choices are: ['true', 'false']. Default is 'false'.
  • Gazebo currently is not functional with the meshes.