robot_description

ROS 2 robot description package providing URDF, MuJoCo (MJCF), and ros2_control configurations for humanoid robots.

Supported Robots

Vendor	Robot	URDF	MJCF
Unitree	G1	✓	✓
Agibot	X2	✓	✓

Directory Structure

robot_description/
├── urdf/{vendor}/{robot}/
│   ├── main.urdf           # Base URDF
│   ├── robot.xacro         # Entry xacro (sim / real switch)
│   ├── ros2_control.xacro  # ros2_control interfaces
│   ├── mujoco.xacro        # MuJoCo simulation config
│   └── real.xacro          # Real hardware config
├── meshes/{vendor}/{robot}/ # STL mesh files
├── mjcf/{vendor}/{robot}.xml # Native MuJoCo model
├── rviz/{vendor}/{robot}/main.rviz
└── launch/view_robot.launch.py

Dependencies

• ROS 2 (Humble or later)
• xacro
• robot_state_publisher
• joint_state_publisher_gui
• rviz2

Visualization

# Default: Unitree G1
ros2 launch robot_description view_robot.launch.py

# Agibot X2
ros2 launch robot_description view_robot.launch.py \
    organization:=agibot robot_type:=x2

# Load xacro with simulation mode
ros2 launch robot_description view_robot.launch.py \
    organization:=unitree robot_type:=g1 urdf_name:=robot.xacro

Launch Arguments

Argument	Default	Options	Description
organization	unitree	unitree, agibot	Vendor name
robot_type	g1	g1, x2	Robot model
urdf_name	main.urdf	Any URDF / xacro filename	URDF file to load
rviz_config	main.rviz	Any RViz config filename	RViz configuration

Building

cd <your_ros2_workspace>
colcon build --packages-select robot_description
source install/setup.bash

License

This project is licensed under the MIT License.