🐕 Unitree Go1 ROS2 Driver

A ROS2 package which can be used to control the legged robot Unitree Go1 Edu using ROS topics.

This package acts has middleware between ROS2 and unitree_legged_sdk, which enables anyone to control the robot with velocity commands as well as receive back the robot state. Furthermore, additional features are also available such as standing up/down the robot and use head LEDs for some status information.

[!NOTE] Only supports unitree_legged_sdk High level commands

📜 Table of Contents

• ⚙️ Installation
  • 📦 Installation From Source
• 🚀 Usage
• 🤖 ROS Related
  • 📥 Subscribed Topics
  • 📤 Published Topics
  • ⚙️ ROS Parameters
• 🛠️ Features
  • 💡 Robot LED statuses
  • 🪫 Low Battery Protection
  • 🚧 Obstacle Avoidance
• 🔗 Related Packages
• 🔑 License
• 👏 Contributions
• 🎖️ Credits
  • Maintainers
  • Third-party Assets

⚙️ Installation

This package is available in the ROS index for both Iron and Humble distributions.

sudo apt install ros-[distro]-unitree-ros

[!IMPORTANT] If you are using foxy as your ROS distribution, you need to build from source

📦 Installation From Source

[!NOTE] Make sure to clone it recursively, as depends on the unitree_legged_sdk.

mkdir -p ~/unitree_ws/src
cd ~/unitree_ws/src
git clone --recurse-submodules https://github.com/snt-arg/unitree_ros.git

Once you have cloned this repository, you will need to build it using Colcon.

cd ~/unitree_ws
source /opt/ros/[ros-distro]/setup.bash # or zsh if using the zsh shell!
colcon build --symlink-install
source install/setup.bash # or zsh if using the zsh shell!

After having built the workspace, you should now be able to use the driver to control your robot.

🚀 Usage

You can use this driver wired or with a Wi-Fi connection. By default, it is set to use the wired connection.

To launch the driver, you can use the launch file available. For a wired connection use the following command:

ros2 launch unitree_ros unitree_driver_launch.py

For a Wi-Fi connection use the following command:

ros2 launch unitree_ros unitree_driver_launch.py wifi:=true

In case you prefer to modify more parameters, you can do so by passing the parameters file. The default parameters can be found in config/params.yaml or here.

ros2 launch unitree_ros unitree_driver_launch.py params_file:="path_to_your_params_file" #wifi:=true/false

🤖 ROS Related

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