Packages Version: v3.8.0

Introduction

This package can send control command to real robot from ROS. 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 ROS melodic environment

Dependencies

• unitree_legged_sdk

Notice

The newest release v3.8.0 only supports for robot: Go1.

Check release v3.3.4 for A1 support.

Configuration

Before compiling this package, please download the corresponding unitree_legged_sdk as noted above, and put it to your own workspace's source folder(e.g. ~/catkin_ws/src). Be careful with the sdk folder name. It should be "unitree_legged_sdk" without version tag.

Build

You can use catkin_make to build ROS packages. First copy the package folder to ~/catkin_ws/src, then:

cd ~/catkin_ws
catkin_make

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

You can control your real Go1 robot from ROS by this package.

Before you run expamle program, please run command

roslaunch unitree_legged_real real.launch ctrl_level:=highlevel

or

roslaunch unitree_legged_real real.launch ctrl_level:=lowlevel

It depends which control mode you want to use.

Then, if you want to run high-level control mode, you can run example_walk node like this

rosrun unitree_legged_real example_walk

If you want to run low-level control mode, you can run example_position program node like this

rosrun unitree_legged_real example_postion

You can also run the node state_sub to subscribe the feedback information from Go1 robot

rosrun unitree_legged_real state_sub

You can also run the launch file that enables you control robot via keyboard like you can do in turtlesim package

roslaunch unitree_legged_real keyboard_control.launch

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.