A1_visualizer
This visualizer visulize your A1 robot in rviz
Dependency:
Other than ROS itself (only tested in ROS melodic)
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sudo apt install libpcl-dev
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tranform graph https://github.com/jstnhuang/transform_graph
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sudo apt-get install ros-melodic-orocos-kdl
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Unitree ROS https://github.com/paulyang1990/unitree_ros
Follow the README carefully, and remember the unitree_legged_sdk version must be v3.2. Refer to A1-Docker dockerfile for useful commands
The visualizer will search for unitree ros package installed on your machine, then read urdf from unitree ros package.
Please make sure you can roscd unitree_legged_real before running this package.
The visualization result looks like this:
(The camera frame and points in the scene comes from VINS-Fusion. They are not part of this package)