ROS1 noetic 中将 Unitree G1 的 URDF 导入 Gazebo/RViz

博客地址：https://www.cnblogs.com/zylyehuo/

Unitree G1 模型文件下载地址(挑选自己需要的部分，本教程基于 g1_29dof.urdf (以及 .xml 和 meshes 文件夹))

有核心的 URDF 文件和 Meshes (STL 网格文件)

效果预览

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第一步：建立工作空间与目录结构

# 1. 创建工作空间 (如果已有 workspace 可跳过)
mkdir -p ~/g1_ws/src
cd ~/g1_ws/src

# 2. 创建包目录 (必须叫 g1_description)
mkdir -p g1_description/urdf
mkdir -p g1_description/meshes
mkdir -p g1_description/launch

将 g1_29dof.urdf (以及 .xml) 放入 ~/g1_ws/src/g1_description/urdf/

将所有 .STL 文件放入 ~/g1_ws/src/g1_description/meshes/

为 URDF 文件添加 Gazebo 标签，添加颜色

~/g1_ws/src/g1_description/urdf/g1_29dof.urdf

粘贴到 g1_29dof.urdf 文件末尾（在最后一行的标签之前）

<gazebo reference="pelvis">
    <material>Gazebo/DarkGrey</material>
  </gazebo>
  
  <gazebo reference="left_hip_pitch_link">
    <material>Gazebo/DarkGrey</material>
  </gazebo>
  
  <gazebo reference="left_ankle_roll_link">
    <material>Gazebo/DarkGrey</material>
  </gazebo>
  
  <gazebo reference="right_hip_pitch_link">
    <material>Gazebo/DarkGrey</material>
  </gazebo>
  
  <gazebo reference="right_ankle_roll_link">
    <material>Gazebo/DarkGrey</material>
  </gazebo>
  
  <gazebo reference="logo_link">
    <material>Gazebo/DarkGrey</material>
  </gazebo>
  
  <gazebo reference="head_link">
    <material>Gazebo/DarkGrey</material>
  </gazebo>

  <gazebo reference="pelvis_contour_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="left_hip_roll_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="left_hip_yaw_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="left_knee_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="left_ankle_pitch_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="right_hip_roll_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="right_hip_yaw_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="right_knee_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="right_ankle_pitch_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="waist_yaw_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="waist_roll_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="torso_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="waist_support_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="left_shoulder_pitch_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="left_shoulder_roll_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="left_shoulder_yaw_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="left_elbow_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="left_wrist_roll_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="left_wrist_pitch_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="left_wrist_yaw_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="left_rubber_hand">
    <material>Gazebo/Grey</material>
  </gazebo>

  <gazebo reference="right_shoulder_pitch_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="right_shoulder_roll_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="right_shoulder_yaw_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="right_elbow_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="right_wrist_roll_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="right_wrist_pitch_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="right_wrist_yaw_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  
  <gazebo reference="right_rubber_hand">
    <material>Gazebo/Grey</material>
  </gazebo>

第二步：补充缺失的系统文件

~/g1_ws/src/g1_description/package.xml

<?xml version="1.0"?>
<package format="2">
  <name>g1_description</name>
  <version>0.0.1</version>
  <description>The g1_description package</description>
  <maintainer email="user@todo.todo">User</maintainer>
  <license>TODO</license>

  <buildtool_depend>catkin</buildtool_depend>
  <depend>roscpp</depend>
  <depend>rospy</depend>
  <depend>std_msgs</depend>
  <depend>urdf</depend>
  <depend>xacro</depend>
  
  <exec_depend>gazebo_ros</exec_depend>
  <exec_depend>joint_state_publisher</exec_depend>
  <exec_depend>robot_state_publisher</exec_depend>
  <exec_depend>rviz</exec_depend>

  <export>
    <gazebo_ros gazebo_model_path="${prefix}/.."/>
  </export>
</package>

~/g1_ws/src/g1_description/CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(g1_description)

find_package(catkin REQUIRED COMPONENTS
  urdf
  xacro
)

catkin_package()

# 安装路径设置，确保launch和meshes能被找到
install(DIRECTORY launch meshes urdf
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

第三步：解决网格路径问题

RDF 文件通常写死了网格路径。如果您的 URDF 是从其他地方导出的，它可能写的是 file:///home/xxx/... 或者 package://g1_description/...

为了确保不报错，执行以下检查：

打开 urdf/g1_29dof.urdf。
搜索 <mesh filename="...">。

修改路径：确保所有路径都以 package://g1_description/meshes/ 开头。

错误示例: filename="D:/downloads/meshes/pelvis.STL"
正确示例: filename="package://g1_description/meshes/pelvis.STL"

(可以使用 VS Code 的“全部替换”功能)

第四步：编写 RViz 启动文件

~/g1_ws/src/g1_description/launch/display.launch

<launch>
  <param name="robot_description" textfile="$(find g1_description)/urdf/g1_29dof.urdf" />

  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />

  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />

  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find g1_description)/launch/g1.rviz" />
</launch>

第一次运行时 RViz 可能会报错找不到配置，这是正常的，需要手动添加 RobotModel

第五步：编写 Gazebo 启动文件

~/g1_ws/src/g1_description/launch/gazebo.launch

<launch>
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="paused" value="true"/> <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
  </include>

  <param name="robot_description" textfile="$(find g1_description)/urdf/g1_29dof.urdf" />

  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-file $(find g1_description)/urdf/g1_29dof.urdf -urdf -z 0.79 -model g1_robot" output="screen" />
  
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
</launch>

第六步：编译并运行

cd ~/g1_ws

catkin_make

source devel/setup.bash

运行 RViz 可视化

roslaunch g1_description display.launch

在 RViz 左侧点击 "Add" -> "RobotModel"。
将 "Fixed Frame" 修改为 URDF 中的根链接名称（通常是 base_link 或 pelvis）。
现在应该能看到机器人，并可以通过小窗口滑动条动它的关节。

运行 Gazebo 仿真

roslaunch g1_description gazebo.launch

Gazebo 打开后，点击底部的 "Play" 按钮。

预期结果：机器人会出现在世界中。因为没有写控制算法，受重力影响，它可能会直接跪下或倒下。

posted @ 2026-01-13 20:39 zylyehuo 阅读(6) 评论(0) 收藏举报

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zylyehuo

博客地址： https://www.cnblogs.com/zylyehuo/ github地址：https://github.com/zylyehuo gitee地址：https://gitee.com/zylyehuo

ROS1 noetic 中将 Unitree G1 的 URDF 导入 Gazebo/RViz

效果预览

第一步：建立工作空间与目录结构

为 URDF 文件添加 Gazebo 标签，添加颜色

~/g1_ws/src/g1_description/urdf/g1_29dof.urdf

第二步：补充缺失的系统文件

~/g1_ws/src/g1_description/package.xml

~/g1_ws/src/g1_description/CMakeLists.txt

第三步：解决网格路径问题

第四步：编写 RViz 启动文件

~/g1_ws/src/g1_description/launch/display.launch

第五步：编写 Gazebo 启动文件

~/g1_ws/src/g1_description/launch/gazebo.launch

第六步：编译并运行

运行 RViz 可视化

运行 Gazebo 仿真

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