ROS Index
No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
Repository Summary
| Description | The UNOFFICIAL ROS2 driver for Unitree robotics dog A1 |
| Checkout URI | https://github.com/crystaldust/unitree_a1_ros2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2021-05-08 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
README
Unitree A1 ROS2 Driver
The UNOFFICIAL ROS2 driver for Unitree robotics dog A1
Setting up
Workspace setup
Please make sure you have the following checked out in your colcon workspace together:
- https://github.com/huawei-ros/unitree_legged_sdk
- https://github.com/lcm-proj/lcm
- http://github.com/crystaldust/unitree_a1_ros2.git
Once the two former packages are released upstream, rosdep install should be sufficient to pull in dependencies.
Unitree A1 high level state support list
The Unitree SDK define a “HighState” to present the high level control of the robotics dog, there are still some constraints of the driver because some features are missing from the SDK(unitree_legged_sdk)
| HighState | Explanation | Supported or not |
|---|---|---|
| levelFlag | High level or low level flag,”0x00” for high level,”0xff” for low level | Supported |
| mode | Robot mode, “1” for stand mode, “2” for walk mode | Setting mode is supported, while accessing the mode is not |
| imu | Quaternion、angular velocity、accelerometer、temperature | Partially supported(temperature under sport mode is not accessible) |
| forwardSpeed | Walk forward speed | Supported |
| sideSpeed | The speed of lateral walk | Supported |
| rotateSpeed | Rotate speed | Supported |
| bodyHeight | Current body height | Supported |
| updownSpeed | Standing or squatting speed | Supported |
| forwardPosition | front or rear displacement(?) | Supported |
| sidePosition | left or right displacement(?) | Supported |
| footPosition2Body | Position of the feet relative to the body | Supported |
| footSpeed2Body | Foot speed relative to the body | Supported |
| footForce | The force on the foot | Supported |
| wirelessRemote | Wireless command | Supported |
| crc | Checksum | Supported |
Comment:
1.Setting sport mode is not supported through calling unitree sdk.
2.In normal mode, the robot dog will drift when stepping, It’s best to develop in sport mode.
3.Getting temperature in sport mode is not supported.
4.Getting the current mode of the robot dog is not supported.
CONTRIBUTING
No CONTRIBUTING.md found.
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.