ROS Index
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go2_isaac_ros2 package from go2_isaac_ros2 repogo2_isaac_ros2 |
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Simulation of a Unitree Go2 in Isaac Sim using ROS2 for low-level joint control. |
| Checkout URI | https://github.com/clearoboticslab/go2_isaac_ros2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-02-26 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Jacob Levy
Authors
go2_isaac_ros2
This package allows low-level (or joint-level), ROS2 control of a Unitree Go2 quadruped robot being simulated in Isaac Sim. This package is built on top of IsaacLab. This package is meant to emulate the low-level control mode of the Go2. Here, the robot is controlled by specifying joint position targets and gains to the topic /lowcmd. In low-level control mode, sports mode is disabled, so only low-level readings (like joint angles, joint velocities, IMU, and the raw lidar cloud) are available on the /lowstate and /utlidar/cloud topics.
| Tested With | Version |
|---|---|
| Ubuntu | 22.04 |
| ROS2 | Humble |
| Isaac Sim | 4.5.0 |
TODO:
| Feature | |
|---|---|
| ✅ | Joint position targets |
| ⬜ | Joint velocity targets |
| ✅ | Joint-level specification of Kp and Kd (proportional and derivative gain) |
| ❌ | Joint torque control |
| ✅ | Joint state and IMU |
| ✅ | Head LiDAR |
| ⬜ | Front camera |
| ⬜ | Terrain selection |
Installation
First, ensure ROS2 Humble is installed.
It is recommended to install Isaac Lab within a conda / miniconda environment. Create an environment:
conda create -n go2_isaac_ros2 python=3.10
conda activate go2_isaac_ros2
Then install IsaacLab per the their instructions.
Next, create a ROS2 workspace and clone this repository into the src directory:
mkdir -p ~/go2_isaac_ros2_ws/src
cd ~/go2_isaac_ros2_ws/src
git clone https://github.com/CLeARoboticsLab/go2_isaac_ros2.git
You will also need to clone the Unitree ROS2 SDK into the src directory:
cd ~/go2_isaac_ros2_ws/src
git clone https://github.com/unitreerobotics/unitree_ros2.git
Then build the workspace:
cd ~/go2_isaac_ros2_ws
source /opt/ros/humble/setup.bash
colcon build
⚠️ You may have to build the workspace multiple times to resolve all dependencies.
⚠️ This PR is required to use the IMU sensor in Isaac Sim. Ensure this PR has been merged into your clone of Isaac Lab.
Usage
First, start the simulator:
source ~/go2_isaac_ros2_ws/install/setup.bash
conda activate go2_isaac_ros2
ros2 launch go2_isaac_ros2 launch_sim.py
Controlling the robot within Isaac Sim is the same as with hardware. To control the robot, publish unitree_go.msg.LowCmd messages to the /lowcmd topic.
Similarly, to receive observations from the robot, subscribe to the /lowstate and /utlidar/cloud topics.
Note: /clock is also published by this package to allow for time synchronization with the simulator. To synchronize ROS2 with the simulator, be sure to set the use_sim_time: true parameter when launching all nodes.
Acknowledgements
This package was inspired by the go2_omniverse package by @abizovnuralem.
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_python |