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