https://github.com/anybotics/anymal_c_simple_description

Simplified robot description of the ANYmal C quadrupedal robot.
https://github.com/anybotics/anymal_c_simple_description

Last synced: over 1 year ago
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Simplified robot description of the ANYmal C quadrupedal robot.

• Host: GitHub
• URL: https://github.com/anybotics/anymal_c_simple_description
• Owner: ANYbotics
• License: bsd-3-clause
• Created: 2020-09-10T05:51:36.000Z (almost 6 years ago)
• Default Branch: master
• Last Pushed: 2023-05-12T21:50:50.000Z (about 3 years ago)
• Last Synced: 2025-01-15T12:15:15.820Z (over 1 year ago)
• Language: CMake
• Size: 4.11 MB
• Stars: 65
• Watchers: 12
• Forks: 21
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# ANYmal C Robot Description (URDF)

## Overview

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

The extended ANYmal C 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 info@anybotics.com.

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

[![ANYmal C Robot Description](doc/anymal_c_rviz.png)](doc/anymal_c_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_c_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`, `robot_state_publisher`, `rviz`):

    roslaunch anymal_c_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.