├── README.md ├── champ ├── CMakeLists.txt ├── include │ └── champ │ │ ├── LICENSE │ │ ├── README.md │ │ ├── bla │ │ ├── basic_linear_algebra.h │ │ └── memory_delegate.h │ │ ├── body_controller │ │ └── body_controller.h │ │ ├── geometry │ │ └── geometry.h │ │ ├── kinematics │ │ └── kinematics.h │ │ ├── leg_controller │ │ ├── leg_controller.h │ │ ├── phase_generator.h │ │ └── trajectory_planner.h │ │ ├── macros │ │ └── macros.h │ │ ├── odometry │ │ └── odometry.h │ │ ├── quadruped_base │ │ ├── quadruped_base.h │ │ ├── quadruped_components.h │ │ ├── quadruped_joint.h │ │ └── quadruped_leg.h │ │ └── utils │ │ ├── urdf_loader.h │ │ └── xmlrpc_helpers.h └── package.xml ├── champ_base ├── .gitignore ├── CMakeLists.txt ├── config │ ├── ekf │ │ ├── base_to_footprint.yaml │ │ └── footprint_to_odom.yaml │ └── velocity_smoother │ │ └── velocity_smoother.yaml ├── include │ ├── actuator.h │ ├── message_relay.h │ ├── quadruped_controller.h │ └── state_estimation.h ├── package.xml └── src │ ├── message_relay.cpp │ ├── message_relay_node.cpp │ ├── quadruped_controller.cpp │ ├── quadruped_controller_node.cpp │ ├── state_estimation.cpp │ └── state_estimation_node.cpp ├── champ_msgs ├── CMakeLists.txt ├── msg │ ├── Contacts.msg │ ├── ContactsStamped.msg │ ├── Imu.msg │ ├── Joints.msg │ ├── PID.msg │ ├── Point.msg │ ├── PointArray.msg │ ├── Pose.msg │ └── Velocities.msg └── package.xml ├── docs ├── 1.png ├── 2.png ├── 3.png ├── 4.png ├── camera.png ├── image copy.png ├── image.png ├── unitree_go2_sim.png └── unitree_go2_vis.png ├── go2_tf_tree.png ├── unitree_go2_description ├── CMakeLists.txt ├── meshes │ ├── L1_4D_Lidar.dae │ ├── VLP16_base_1.dae │ ├── VLP16_base_2.dae │ ├── VLP16_scan.dae │ ├── calf.dae │ ├── calf_mirror.dae │ ├── foot.dae │ ├── hip.dae │ ├── hokuyo.dae │ ├── thigh.dae │ ├── thigh_mirror.dae │ └── trunk.dae ├── package.xml ├── urdf │ ├── const.xacro │ ├── leg.xacro │ ├── lidar_4D_lidar.xacro │ ├── materials.xacro │ ├── unitree_go2_gazebo.xacro │ ├── unitree_go2_robot.xacro │ └── velodyne.xacro └── worlds │ └── default.sdf └── unitree_go2_sim ├── CMakeLists.txt ├── config ├── gait │ └── gait.yaml ├── joints │ └── joints.yaml ├── links │ └── links.yaml └── ros_control │ └── ros_control.yaml ├── launch └── unitree_go2_launch.py ├── package.xml └── rviz └── rviz.rviz /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/README.md -------------------------------------------------------------------------------- /champ/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ/CMakeLists.txt -------------------------------------------------------------------------------- /champ/include/champ/LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ/include/champ/LICENSE -------------------------------------------------------------------------------- /champ/include/champ/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ/include/champ/README.md -------------------------------------------------------------------------------- /champ/include/champ/bla/basic_linear_algebra.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ/include/champ/bla/basic_linear_algebra.h -------------------------------------------------------------------------------- /champ/include/champ/bla/memory_delegate.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ/include/champ/bla/memory_delegate.h -------------------------------------------------------------------------------- /champ/include/champ/body_controller/body_controller.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ/include/champ/body_controller/body_controller.h -------------------------------------------------------------------------------- /champ/include/champ/geometry/geometry.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ/include/champ/geometry/geometry.h -------------------------------------------------------------------------------- /champ/include/champ/kinematics/kinematics.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ/include/champ/kinematics/kinematics.h -------------------------------------------------------------------------------- /champ/include/champ/leg_controller/leg_controller.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ/include/champ/leg_controller/leg_controller.h -------------------------------------------------------------------------------- /champ/include/champ/leg_controller/phase_generator.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ/include/champ/leg_controller/phase_generator.h -------------------------------------------------------------------------------- /champ/include/champ/leg_controller/trajectory_planner.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ/include/champ/leg_controller/trajectory_planner.h -------------------------------------------------------------------------------- /champ/include/champ/macros/macros.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ/include/champ/macros/macros.h -------------------------------------------------------------------------------- /champ/include/champ/odometry/odometry.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ/include/champ/odometry/odometry.h -------------------------------------------------------------------------------- /champ/include/champ/quadruped_base/quadruped_base.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ/include/champ/quadruped_base/quadruped_base.h -------------------------------------------------------------------------------- /champ/include/champ/quadruped_base/quadruped_components.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ/include/champ/quadruped_base/quadruped_components.h -------------------------------------------------------------------------------- /champ/include/champ/quadruped_base/quadruped_joint.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ/include/champ/quadruped_base/quadruped_joint.h -------------------------------------------------------------------------------- /champ/include/champ/quadruped_base/quadruped_leg.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ/include/champ/quadruped_base/quadruped_leg.h -------------------------------------------------------------------------------- /champ/include/champ/utils/urdf_loader.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ/include/champ/utils/urdf_loader.h -------------------------------------------------------------------------------- /champ/include/champ/utils/xmlrpc_helpers.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ/include/champ/utils/xmlrpc_helpers.h -------------------------------------------------------------------------------- /champ/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ/package.xml -------------------------------------------------------------------------------- /champ_base/.gitignore: -------------------------------------------------------------------------------- 1 | include/libchamp -------------------------------------------------------------------------------- /champ_base/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ_base/CMakeLists.txt -------------------------------------------------------------------------------- /champ_base/config/ekf/base_to_footprint.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ_base/config/ekf/base_to_footprint.yaml -------------------------------------------------------------------------------- /champ_base/config/ekf/footprint_to_odom.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ_base/config/ekf/footprint_to_odom.yaml -------------------------------------------------------------------------------- /champ_base/config/velocity_smoother/velocity_smoother.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ_base/config/velocity_smoother/velocity_smoother.yaml -------------------------------------------------------------------------------- /champ_base/include/actuator.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ_base/include/actuator.h -------------------------------------------------------------------------------- /champ_base/include/message_relay.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ_base/include/message_relay.h -------------------------------------------------------------------------------- /champ_base/include/quadruped_controller.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ_base/include/quadruped_controller.h -------------------------------------------------------------------------------- /champ_base/include/state_estimation.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ_base/include/state_estimation.h -------------------------------------------------------------------------------- /champ_base/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ_base/package.xml -------------------------------------------------------------------------------- /champ_base/src/message_relay.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ_base/src/message_relay.cpp -------------------------------------------------------------------------------- /champ_base/src/message_relay_node.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ_base/src/message_relay_node.cpp -------------------------------------------------------------------------------- /champ_base/src/quadruped_controller.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ_base/src/quadruped_controller.cpp -------------------------------------------------------------------------------- /champ_base/src/quadruped_controller_node.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ_base/src/quadruped_controller_node.cpp -------------------------------------------------------------------------------- /champ_base/src/state_estimation.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ_base/src/state_estimation.cpp -------------------------------------------------------------------------------- /champ_base/src/state_estimation_node.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ_base/src/state_estimation_node.cpp -------------------------------------------------------------------------------- /champ_msgs/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ_msgs/CMakeLists.txt -------------------------------------------------------------------------------- /champ_msgs/msg/Contacts.msg: -------------------------------------------------------------------------------- 1 | bool[] contacts -------------------------------------------------------------------------------- /champ_msgs/msg/ContactsStamped.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ_msgs/msg/ContactsStamped.msg -------------------------------------------------------------------------------- /champ_msgs/msg/Imu.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ_msgs/msg/Imu.msg -------------------------------------------------------------------------------- /champ_msgs/msg/Joints.msg: -------------------------------------------------------------------------------- 1 | float32[] position -------------------------------------------------------------------------------- /champ_msgs/msg/PID.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ_msgs/msg/PID.msg -------------------------------------------------------------------------------- /champ_msgs/msg/Point.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ_msgs/msg/Point.msg -------------------------------------------------------------------------------- /champ_msgs/msg/PointArray.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ_msgs/msg/PointArray.msg -------------------------------------------------------------------------------- /champ_msgs/msg/Pose.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ_msgs/msg/Pose.msg -------------------------------------------------------------------------------- /champ_msgs/msg/Velocities.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ_msgs/msg/Velocities.msg -------------------------------------------------------------------------------- /champ_msgs/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/champ_msgs/package.xml -------------------------------------------------------------------------------- /docs/1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/docs/1.png -------------------------------------------------------------------------------- /docs/2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/docs/2.png -------------------------------------------------------------------------------- /docs/3.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/docs/3.png -------------------------------------------------------------------------------- /docs/4.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/docs/4.png -------------------------------------------------------------------------------- /docs/camera.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/docs/camera.png -------------------------------------------------------------------------------- /docs/image copy.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/docs/image copy.png -------------------------------------------------------------------------------- /docs/image.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/docs/image.png -------------------------------------------------------------------------------- /docs/unitree_go2_sim.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/docs/unitree_go2_sim.png -------------------------------------------------------------------------------- /docs/unitree_go2_vis.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/docs/unitree_go2_vis.png -------------------------------------------------------------------------------- /go2_tf_tree.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/go2_tf_tree.png -------------------------------------------------------------------------------- /unitree_go2_description/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_description/CMakeLists.txt -------------------------------------------------------------------------------- /unitree_go2_description/meshes/L1_4D_Lidar.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_description/meshes/L1_4D_Lidar.dae -------------------------------------------------------------------------------- /unitree_go2_description/meshes/VLP16_base_1.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_description/meshes/VLP16_base_1.dae -------------------------------------------------------------------------------- /unitree_go2_description/meshes/VLP16_base_2.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_description/meshes/VLP16_base_2.dae -------------------------------------------------------------------------------- /unitree_go2_description/meshes/VLP16_scan.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_description/meshes/VLP16_scan.dae -------------------------------------------------------------------------------- /unitree_go2_description/meshes/calf.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_description/meshes/calf.dae -------------------------------------------------------------------------------- /unitree_go2_description/meshes/calf_mirror.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_description/meshes/calf_mirror.dae -------------------------------------------------------------------------------- /unitree_go2_description/meshes/foot.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_description/meshes/foot.dae -------------------------------------------------------------------------------- /unitree_go2_description/meshes/hip.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_description/meshes/hip.dae -------------------------------------------------------------------------------- /unitree_go2_description/meshes/hokuyo.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_description/meshes/hokuyo.dae -------------------------------------------------------------------------------- /unitree_go2_description/meshes/thigh.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_description/meshes/thigh.dae -------------------------------------------------------------------------------- /unitree_go2_description/meshes/thigh_mirror.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_description/meshes/thigh_mirror.dae -------------------------------------------------------------------------------- /unitree_go2_description/meshes/trunk.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_description/meshes/trunk.dae -------------------------------------------------------------------------------- /unitree_go2_description/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_description/package.xml -------------------------------------------------------------------------------- /unitree_go2_description/urdf/const.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_description/urdf/const.xacro -------------------------------------------------------------------------------- /unitree_go2_description/urdf/leg.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_description/urdf/leg.xacro -------------------------------------------------------------------------------- /unitree_go2_description/urdf/lidar_4D_lidar.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_description/urdf/lidar_4D_lidar.xacro -------------------------------------------------------------------------------- /unitree_go2_description/urdf/materials.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_description/urdf/materials.xacro -------------------------------------------------------------------------------- /unitree_go2_description/urdf/unitree_go2_gazebo.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_description/urdf/unitree_go2_gazebo.xacro -------------------------------------------------------------------------------- /unitree_go2_description/urdf/unitree_go2_robot.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_description/urdf/unitree_go2_robot.xacro -------------------------------------------------------------------------------- /unitree_go2_description/urdf/velodyne.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_description/urdf/velodyne.xacro -------------------------------------------------------------------------------- /unitree_go2_description/worlds/default.sdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_description/worlds/default.sdf -------------------------------------------------------------------------------- /unitree_go2_sim/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_sim/CMakeLists.txt -------------------------------------------------------------------------------- /unitree_go2_sim/config/gait/gait.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_sim/config/gait/gait.yaml -------------------------------------------------------------------------------- /unitree_go2_sim/config/joints/joints.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_sim/config/joints/joints.yaml -------------------------------------------------------------------------------- /unitree_go2_sim/config/links/links.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_sim/config/links/links.yaml -------------------------------------------------------------------------------- /unitree_go2_sim/config/ros_control/ros_control.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_sim/config/ros_control/ros_control.yaml -------------------------------------------------------------------------------- /unitree_go2_sim/launch/unitree_go2_launch.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_sim/launch/unitree_go2_launch.py -------------------------------------------------------------------------------- /unitree_go2_sim/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_sim/package.xml -------------------------------------------------------------------------------- /unitree_go2_sim/rviz/rviz.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/khaledgabr77/unitree_go2_ros2/HEAD/unitree_go2_sim/rviz/rviz.rviz --------------------------------------------------------------------------------