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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.