unitree_ros2_to_real

This package can send control command to real robot from ROS 2. You can do low-level control(namely control all joints on robot) and high-level control(namely control the walking direction and speed of robot).

This version is suitable for unitree_legged_sdk v3.8.3, for B1 robot and v3.8.6 fo Go1.

Packages

Basic message function: ros2_unitree_legged_msgs

The interface between ROS and real robot: ros2_unitree_legged_real

Environment

We recommand users to run this package in Ubuntu 22.04 and ROS humble environment.

Dependency

make sure to install the following sdk on your computer before using this package.

• B1 robot: unitree_legged_sdk (v3.8.3)

• Go1 robot: unitree_legged_sdk (v3.8.6)

Notice

The release v3.8.3 only supports for robot: B1. The release v3.8.6 only supports for robot: Go1.

Build

You can use colcon to build the ROS2 packages.
Clone the package in your workspace (e.g., ~/ros_ws/src) and run from ros_ws directory:

• B1 robot: colcon build --cmake-args " -DUSE_STATIC_LIBRARY=OFF"
• Go1 robot: colcon build --cmake-args " -DUSE_STATIC_LIBRARY=ON"

Run

To run the high level controller, bash the workspace and run the following:

• B1 robot:

    ros2 launch ros2_unitree_legged_real ros2_control.launch.py robot_type:=b1

• Go1 robot:

    ros2 launch ros2_unitree_legged_real ros2_control.launch.py robot_type:=go1

Docker image

If you want to run the controller directly on the robots main computer, use connect to main computer and run:

• B1 robot:

docker_factory_run -i b1/ros2_control

• Go1 robot:

docker_factory_run -i go1/ros2_control

or, if you use robot_setup bashrcs, from your pilot laptop,

launch_ros2_control

Unitree ROS 2 client interface

To simplify interaction with the services spawn by unitree_high_ros2_control node, we provided c++ and python libraries containing the class UnitreeRos2Client which provide a easy to use interface with ros services.

• See unitree_ros2_client.hpp and unitree_services_handler.cpp to have an hint on how to use the c++ version.

• See unitreeRos2Client.py for the python version

Testing

To test the functionalities of unitree_high_ros2_control node we provided a quick reference test to run. Start by running the ROS2 controllor on the robot or your PC (Be sure that robot and host pc are on the same network or correctly connected):

    ros2 launch ros2_unitree_legged_real ros2_control.launch.py robot_type:={ROBOT_TYPE}

Once the controller is started, move the robot in stand down position (L2+A on controller) and start the test procedure on your host pc. Open a terminal in ros2_unitree_legged_real/test and run the test:

    python test_ros2control.py

It will produce a recap of the test named test_recap_DATE_TIME where the succesfull and unsuccesful tests are reported.

OLD README VERSION

The original README.md version can be found here: OLD_README

Authors

The package is provided by:

• Federico Rollo [Mantainer]