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unitree_joystick_input package from quadruped_ros2_control repo

control_input_msgs joystick_input keyboard_input unitree_joystick_input leg_pd_controller ocs2_quadruped_controller rl_quadruped_controller unitree_guide_controller anymal_c_description lite3_description x30_description a1_description aliengo_description b2_description go1_description go2_description cyberdog_description gz_quadruped_hardware hardware_unitree_mujoco controller_common gz_quadruped_playground qpoases_colcon

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description ROS2-Control implementations for Quadruped robots, include sim2real
Checkout URI https://github.com/legubiao/quadruped_ros2_control.git
VCS Type git
VCS Version main
Last Updated 2025-03-31
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A package to convert joystick signal to control input

Additional Links

No additional links.

Maintainers

  • Huang Zhenbiao

Authors

No additional authors.
commands/unitree_joystick_input/README.md

Unitree Joystick Input Node

This node will listen to the wireless remote topic and publish a unitree_go::msg::dds_::WirelessController_ message by using unitree_sdk2.

Before use this node, please use ifconfig command to check the network interface to connect to the robot, then change the parameter in launch file.

Tested environment:

  • Ubuntu 24.04
    • ROS2 Jazzy

Build Command

cd ~/ros2_ws
colcon build --packages-up-to unitree_joystick_input --symlink-install

Launch Command

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_joystick_input joystick.launch.py

1. Use Instructions for Controllers

1.1 Unitree Guide Controller

  • Passive Mode: select
  • Fixed Down: start
  • Fixed Stand: start
    • Free Stand: right + X
    • Trot: right + Y
    • SwingTest: right + B
    • Balance: right + A

1.2 OCS2 Quadruped Controller

  • Passive Mode: select
  • OCS2 Mode: start
    • Stance: start
    • trot: right + X
    • standing trot: right + Y
    • flying_trot: right + B

1.3 RL Quadruped Controller

  • Passive Mode: select
  • Fixed Down: start
  • Fixed Stand: start
    • RL Mode: right + X
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

Deps Name
ament_cmake
rclcpp
sensor_msgs
control_input_msgs

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 unitree_joystick_input at Robotics Stack Exchange

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