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Go1_gazebo_simulation

installation:

  • clone the repo into the src folder of your local catkin_ws, e.g.:
cd ~/catkin_ws/src
git clone <url of this git repo>
  • install dependacies using rosdep:
cd ~/catkin_ws
rosdep install --from-paths src --ignore-src -r -y
  • build the ROS packages:
catkin build
  • source the packages:
source ~/catkin_ws/devel/setup.bash
  • (optional) add the source command to .bashrc for auto sourcing:
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Running the simulation

Running the sim with navigation stack:

  • start the gazebo simulation:
roslaunch go1_config gazebo.launch
  • in a seperate terminal start the ROS navigation stack for the go1:
roslaunch go1_config navigate.launch rviz:=true