Introduction

This package can send control command to real robot from ROS2. 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 v3.5.1, namely Go1 robot.

Packages:

Basic message function: unitree_legged_msgs

The interface between ROS and real robot: unitree_legged_real

Environment

We recommand users to run this package in Ubuntu 18.04 and ROS2 eloquent environment

Dependencies

• unitree_legged_sdk: v3.5.1
• zed_wrapper : Follow the setup instructions as mentioned in its READMe and dont forget to source its workspace into this one.
• Catch2

Configuration

First, creat a directory.

mkdir -p ~/ros2_ws/src

Then download this package into this ~/ros_ws/src folder.

After you download this package into this folder, your folder should be like this

~/ros2_ws/src/unitree_ros2_to_real

And now download unitree_legged_sdk v3.5.1 into the path ~/ros_ws/src_unitree_ros2_to_real

Build

colcon build

Setup the net connection

First, please connect the network cable between your PC and robot. Then run ifconfig in a terminal, you will find your port name. For example, enx000ec6612921.

Then, open the ipconfig.sh file under the folder unitree_legged_real, modify the port name to your own. And run the following commands:

sudo chmod +x ipconfig.sh
sudo ./ipconfig.sh

If you run the ifconfig again, you will find that port has inet and netmask now. In order to set your port automatically, you can modify interfaces:

sudo gedit /etc/network/interfaces

And add the following 4 lines at the end:

auto enx000ec6612921
iface enx000ec6612921 inet static
address 192.168.123.162
netmask 255.255.255.0

Where the port name have to be changed to your own.

Run the package

Before you do high level or low level control, you should run the ros2_udp node, which is a bridge that connects users and robot

ros2 run unitree_legged_real ros2_udp highlevel

or

ros2 run unitree_legged_real ros2_udp lowlevel

it depends which control mode(low level or high level) you want to use.

In the high level mode, you can run the node ros2_walk_example

ros2 run unitree_legged_real ros2_walk_example

In the low level mode, you can run the node ros2_position_example

ros2 run unitree_legged_real ros2_position_example

And before you do the low-level control, please press L2+A to sit the robot down and then press L1+L2+start to make the robot into mode in which you can do joint-level control, finally make sure you hang the robot up before you run low-level control.