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Package Summary
Tags | No category tags. |
Version | 0.0.0 |
License | Apache-2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/legubiao/quadruped_ros2_control.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-03-31 |
Dev Status | UNMAINTAINED |
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
TODO: Package description
Additional Links
No additional links.
Maintainers
- biao
Authors
No additional authors.
Hardware Unitree Mujoco
This package contains the hardware interface based on unitree_sdk2 to control the Unitree robot in Mujoco simulator.
In theory, it also can communicate with real robot, but it is not tested yet. You can use go2 simulation in unitree_mujoco. In this simulation, I add foot force sensor support.
*[x] [2025-01-16] Add odometer states for simulation.
1. Interfaces
Required hardware interfaces:
- command:
- joint position
- joint velocity
- joint effort
- KP
- KD
- state:
- joint effort
- joint position
- joint velocity
- imu sensor
- linear acceleration
- angular velocity
- orientation
- foot force sensor
2. Build
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
- Ubuntu 22.04
- ROS2 Humble
Build Command:
cd ~/ros2_ws
colcon build --packages-up-to hardware_unitree_mujoco --symlink-install
3. Config network and domain
Since the real unitree robot has different network and domain name, you need to set the network and domain name in the xacro file.
<hardware>
<plugin>hardware_unitree_mujoco/HardwareUnitree</plugin>
<param name="domain">1</param>
<param name="network_interface">lo</param>
</hardware>
After modified the config, you can tried to visualize the robot info from real robot by following command:
source ~/ros2_ws/install/setup.bash
ros2 launch hardware_unitree_mujoco visualize.launch.py
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged hardware_unitree_mujoco at Robotics Stack Exchange
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