Unitree Guide Controller

This is a ros2-control controller based on unitree guide. The original unitree guide project could be found here. I used KDL for the kinematic and dynamic calculation, so the controller performance has difference with the original one (sometimes very unstable).

Tested environment:

• Ubuntu 24.04
  • ROS2 Jazzy
• Ubuntu 22.04
  • ROS2 Humble

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

2. Build

cd ~/ros2_ws
colcon build --packages-up-to unitree_guide_controller

3. Launch

3.1 Mujoco Simulation

Warm Reminder: You need to launch Unitree Mujoco C++ Simulation before launch the controller.

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go2_description

3.2 Gazebo Classic 11 (ROS2 Humble)

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo_classic.launch.py pkg_description:=go2_description

3.3 Gazebo Harmonic (ROS2 Jazzy)

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=go2_description