Summary

This repository contains the needed setup to simulate ANYmal C walking in Gazebo and acquiring data from a 2D Lidar.

• anymal_c_simple_description is a fork of the original repostory from ANYbotics, only written for ros2 (humble) and modified to use xacro, and with additional tags to work with Gazebo and simulate multiple 2D Lidars with different specs, as well as to send via topic the groundtruth odometry
• rf2o_laser_odometry is a nearly identical fork of the RF2O estimator by MAPIRlab
• anymal_c_navigation, anymal_c_config, and anymal_c_bringup are packages champ packages translated in ros2 and adapted to be used with ANYmal C (namely PID re-tuning).
• simulation_bringup contains the launch file to start the simulation, saving data, as well as plotting it, and some utility nodes used in the simulation

Usage

To launch the Gazebo simulation with multiple Lidar at once, just run ros2 launch simulation_bringup multiple_sim.launch.py after compiling and sourcing the environment. To control the robot, teleop_twist_keyboard is needed.