Is there a ROS 2 gazebo project for humanoids robots?

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Dear ROS community,

I was researching if there are ROS 2 Gazebo project for humanoid robots that would facilitate in learning robot locomotion and whole-body motion planning. I am looking towards humanoids similar to Unitree’s H1/H2.

A research scientist from ETH Zurich pointed me to the Issac Gym environment that comes with the assets for H1/H2. But as far as I understand, that simulation pipeline does not use any ROS, and is meant for RL like research.

The closet project I found was Unitree’s ROS 1 project GitHub - unitreerobotics/unitree_ros but it has not been updated for the newer ROS 2 and Gazebo.

Thank you for your time.

With best,
Azmyin

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I was just at the Humanoids conference and I didn’t see anything that fits your description.

I would reach out to either Unitree or Red Rabbit Robotics and see if they have a full Gazebo sim on their roadmap.

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Hello @azmyin12!

You can find our TALOS/REEM-C Simulations and the related packages needed for the Gazebo simulation on our GitHub page: GitHub - pal-robotics/talos_simulation

For ROS 1 : GitHub - pal-robotics/talos_simulation at kinetic-devel
For ROS 2: GitHub - pal-robotics/talos_simulation

I hope this information helps you.

Thank you!

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Hi @saikishor thank you very much for pointing to TALOS and REEM-C packages compatible with ROS 2. I looked at the package.xml file for TALOS, is it currently compatible only with Gazebo 6 (Ignition Fortress)?

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Hello!

Sorry for the late reply. Yes it is compatible on Humble as of now. Work is underway to make it available in Jazzy soon with Ignition.

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Hi @saikishor I’m also looking for any humanoid ros2 package for simulation. But the link you have given earlier for ROS2 I can’t find any urdf or .stl file in humble-devel branch. That’s why I’m not able to launch it for gazebo. Could you please help me with complete packages.

Thanks in advance!!

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Hello!

The talos_simulation package has the launch files to launch the simulation, but the original robot description is present here: GitHub - pal-robotics/talos_robot . I hope this is helpful.

Thank you,

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Hey :slight_smile:

for people interested in using the Unitree H1 in ROS2:

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