This package contains a simplified robot description (URDF) of the ANYmal B anymalal robot developed by ANYbotics.
The extended ANYmal B 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.
If you use this work in an academic context, please cite the following publications:
M. Hutter, C. Gehring, A. Lauber, F. Gunther, C. D. Bellicoso, V. Tsounis, P. Fankhauser, R. Diethelm, S. Bachmann, M. Bloesch, H. Kolvenbach, M. Bjelonic, L. Isler and K. Meyer "ANYmal - toward legged robots for harsh environments“, in Advanced Robotics, 31.17, 2017. (DOI)
@article{anymal2017,
title={ANYmal-toward legged robots for harsh environments},
author={Hutter, Marco and Gehring, Christian and Lauber, Andreas and Gunther, Fabian and Bellicoso, Carmine Dario and Tsounis, Vassilios and Fankhauser, P{\'e}ter and Diethelm, Remo and Bachmann, Samuel and Bl{\"o}sch, Michael and Kolvenbach, Hendrik and Bjelonic, Marko and Isler, Linus and Meyer, Konrad},
journal={Advanced Robotics},
volume={31},
number={17},
pages={918--931},
year={2017},
publisher={Taylor \& Francis}
}
ANYbotics, "ANYmal – Autonomous Legged Robot“, https://www.anybotics.com/anymal (accessed: 01.01.2019)
@misc{anymal,
author = {ANYbotics},
title = {{ANYmal - Autonomous Legged Robot}},
howpublished = {\url{https://www.anybotics.com/anymal}},
note = {Accessed: 2019-01-01}
}
Load the ANYmal description to the ROS parameter server:
roslaunch anymal_b_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, robot_state_publisher, rviz):
roslaunch anymal_b_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.