This package contains a simplified robot description (URDF) of ANYmal developed by ANYbotics.
The extended ANYmal D robot description, simulation, and control software is available exclusively to members of the ANYmal Research community. For more information and membership applications, contact [email protected].
Author & Maintainer: Linus Isler, ANYbotics
This software is released under a BSD 3-Clause license.
Load the ANYmal description to the ROS parameter server:
roslaunch anymal_d_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, joint_state_publisher_gui ,robot_state_publisher, rviz):
roslaunch anymal_d_simple_description standalone.launch
-
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.