This repository contains the .urdf model of the CASSIE robot from Agility Robotics. It also includes a a way to visualize the robot using ROS and rviz.
-
Download and install ROS by following the instructions at http://wiki.ros.org/indigo/Installation/Ubuntu.
-
Create a folder for the catkin workspace
mkdir ~/catkin_ws
cd ~/catkin_ws
mkdir src
cd src
catkin_init_workspace
- Clone the repository to get the cassie_description package
git clone https://github.com/UMich-BipedLab/cassie_description.git
- Build the package
cd ../
catkin_make
source devel/setup.bash
- Launch rviz to visualize the .urdf file
roslaunch cassie_description display.launch