chvmp / anymal_c_simple_description

Simplified robot description of the ANYmal C quadrupedal robot.

ANYmal C Robot Description (URDF)

Overview

This package contains a simplified robot description (URDF) of the ANYmal C robot developed by ANYbotics.

The extended ANYmal C robot description, simulation, and control software is available exclusively to members of the ANYmal Research community. For more information and membership applications, contact [e-mail].

Author & Maintainer: Linus Isler, ANYbotics

License

This software is released under a BSD 3-Clause 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.