Z1 Bringup package

This package contains default launch and configuration files to work with the Unitree Z1 manipulator.

The main entry-point for the robot is provided by the z1.launch.py launch file; to start the robot call

ros2 launch z1_bringup z1.launch.py

Launch arguments

Launch arguments provided by z1.launch.py are:

• xacro_file (default: z1_description/urdf/z1.urdf.xacro): path to the xacro file of the Z1 manipulator;
• with_gripper (default: true): loads the Z1 gripper;
• controller_config (default: config/z1_controllers.yaml): full path to the yaml file with the controller configuration;
• starting_controller (default: torque_controller): controller that get started by default;
• sim_ignition (default: true): loads the ignition simulation environment;
• rviz (default: true): open RViz2;
• rviz_config (defaults: rviz/z1.rviz): full path to the yaml file with the rviz configuration;