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https://github.com/ANYbotics/anymal_d_simple_description

Last synced: 26 days ago
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Host: GitHub
URL: https://github.com/ANYbotics/anymal_d_simple_description
Owner: ANYbotics
License: bsd-3-clause
Created: 2023-10-05T12:28:37.000Z (about 1 year ago)
Default Branch: master
Last Pushed: 2024-01-20T17:49:33.000Z (11 months ago)
Last Synced: 2024-01-20T19:09:29.006Z (11 months ago)
Language: CMake
Size: 3.03 MB
Stars: 4
Watchers: 3
Forks: 2
Open Issues: 1
Metadata Files:
- Readme: README.md
- License: LICENSE

Awesome Lists containing this project

awesome-robot-descriptions - URDF - 3-Clause | ✔️ | ✔️ | ✔️ | (Robot Descriptions / Quadrupeds)

README

        # ANYmal D Robot Description (URDF)

## Overview

This package contains a simplified robot description (URDF) of [ANYmal](https://www.anybotics.com/anymal) developed by [ANYbotics](https://www.anybotics.com).

The extended ANYmal D robot description, simulation, and control software is available exclusively to members of the [ANYmal Research community](https://www.anymal-research.org). For more information and membership applications, contact [email protected].

**Author & Maintainer: Linus Isler, [ANYbotics](https://www.anybotics.com)**

[![ANYmal D Robot Description](doc/anymal_d_rviz.png)](doc/anymal_d_rviz.png)

## License

This software is released under a [BSD 3-Clause license](LICENSE).

## Usage

Load the ANYmal description to the ROS parameter server:

    roslaunch anymal_d_simple_description load.launch

To visualize and debug the robot description, start the standalone visualization (note that you have to provide the following additional dependencies: `joint_state_publisher`, `joint_state_publisher_gui` ,`robot_state_publisher`, `rviz`):

    roslaunch anymal_d_simple_description standalone.launch

### Launch files

* **`load.launch`:** Loads the URDF to the parameter server. Meant to be included in higher level launch files.

* **`standalone.launch`:** A standalone launch file that starts RViz and a joint state publisher to debug the description.