jsk_unitree_robot

ROS package for Unitree Go1 robot.

This document assumes that your robot is already configured with JSK's ROS environment. To configure this, please ask your robot's administrator along with this instruction.

How to Run

See manual before you use Go 1. (jsk.imi.i.u-tokyo.ac.jp account is required.)

Setup Environment

First, you need to install ros. For ros melodic, please refer to install guide like here

mkdir -p catkin_ws/src
cd  catkin_ws/src
wstool init .
wstool set --git jsk-ros-pkg/jsk_robot https://github.com/jsk-ros-pkg/jsk_robot.git -y
wstool merge -t . https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master/jsk_unitree_robot/unitree.rosinstall
wstool update -t .
source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install -y -r --from-paths . --ignore-src
cd ../
catkin build go1_description
catkin build unitreeeus jsk_unitree_startup
source devel/setup.bash

Program Go1 robot

1. Connect to the robot via Ethernet

2. Configure your PC's ethernet like below

• IP Address: 192.168.123.162
• Subnet Mask: 255.255.255.0
• Gateway: 192.168.123.161

3. Setup ROS_IP and ROS_MASTER_URI

   rossetmaster 192.168.96.161
   rossetip 192.168.96.162
   

4. Run roseus

   (load "package://unitreeeus/unitree-interface.l") ;; load modules
   (go1-init)

   See https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_unitree_robot/unitreeeus/test/test-go1.l for example.

5. Deployment

   Once you have completed your development, put your code into apps directory and build on cross environment and copy to onboard computer.

   To run cross compile, you need ros1-unitree docker image and arm64v8_System directory. If you do not have them, pleas ask your development environment administrator along with following instructions.

   • prepare-cross-compiling-environment-run-only-the-fist-time-per-host-computer
   • build-ros-system-on-docker--run-only-the-fist-time-per-host-computer

   After that, please run command below to build ros workspace and deploy it to robot.

   roscd jsk_unitree_startup/../cross
   make user
   ./install -t Pro -p 123 # for Go1 Pro
   ./install -t Air -p 123 # for Go1 Air
   

   Then, reboot the robot and go to app_chooser and start your application

Lead teleop

lead_teleop.launch is designed to interface with a mechanical button and an LED, publishing joystick messages (joy_msg) to ROS using the rosserial library. The node captures button presses and publishes the count of presses as part of the /joy messages to ROS.

Hardware Setup

• Joystick: Interprets analog signals from two axes.
• LEDs: One Adafruit NeoPixel strip for status indication.
• Button: A single mechanical button used to trigger different commands based on the number of presses.

For detailed instructions on setting up the Arduino IDE, see Setup Arduino IDE for LeadJoyDevelopment.

Setup Arduino IDE for LeadJoyDevelopment

• Add Seeduino XIAO to board manager
  • Open arduino IDE. ~/arduino-$ARDUINO_VERSION/arduino
  • Add following Boards Manager URLs (File -> Preferences -> Additional Boards Manager URLs -> Click icon)
    • https://files.seeedstudio.com/arduino/package_seeeduino_boards_index.json
  • Install Seeed XIAO RP2040 by Seeed Studio (Tools -> Board -> Boards Manager -> Seeed XIAO RP2040)
  • Install Adafruit NeoPixel (>=1.10.2) by Adafruit (Tools -> Manage Libraries -> Adafruit NeoPixel)
  • SelectSeeed XIAO RP2040 Board (Tools -> Board -> Seeed RP2040 Boards -> Seeed XIAO RP2040)
  • Tested environment:
    • Arduino 1.8.19
    • Seeed XIAO RP2040: 1.12.0
    • Adafruit NeoPixel: 1.10.5

ROS Parameters

• ~deadzone: Adjusts the sensitivity of the joystick's zero point.
• ~press_interval: Time window to register multiple button presses as a single action.
• ~debounce_period: Debounce time to stabilize the button input.

Visual Feedback

The Mechanical keyboard LED button changes colors based on the button pressed to provide immediate visual feedback. Each button press is associated with a different color.

Button Press Actions and LED Feedback

Button Presses	LED Color	Action	Description
0 presses	Red	no action	Unitree is just standing.
1 press	Blue	Sit	Unitree sits and will not walk.
2 presses	Green	Stand	Unitree stands up and is able to walk.
3 presses	Yellow	no action	no action
4 presses	White	Disable movement	Unitree stops moving.
5 presses	Purple	Enable movement	Unitree is able to move again.

The robot's motion and action mappings, such as stopping, moving, sitting, and standing, are defined in rosserial_node.launch and lead_joystick_teleop.yaml. These files control the robot's responses to joystick inputs and can be customized as needed.

You can see it in the next video.

lead_teleop

Topics

See List of Topics for list of topics used in Go1 robot.

Tips

Check boot process

192.168.123.161

Auto start services list

$ cat ~/Unitree/autostart/.startlist.sh
updateDependencies
ipconfig
gencamparams
camerarosnode
03persontrack
imageai
jsk_startup
faceLightServer
slamDetector
wsaudio
faceLightMqtt

Monitor boot process

sshpass -p 123 ssh [email protected] tail -f Unitree/autostart/.startlog

192.168.123.14

Auto start services list

$ cat ~/Unitree/autostart/.startlist.sh
updateDependencies
ipconfig
gencamparams
camerarosnode
03persontrack
imageai
jsk_startup
faceLightServer
slamDetector
wsaudio
faceLightMqtt

Monitor boot process

sshpass -p 123 ssh [email protected] tail -f Unitree/autostart/.startlog

Check roslaunch output

sshpass -p 123 ssh [email protected] ls .ros/log/latest/
sshpass -p 123 ssh [email protected] tail -f .ros/log/latest/app_manager-5.log

Check AI Camera's output

mosquitto_sub -h 192.168.123.161 -t 'vision/human_pose' -d

Stop auto started launch process

run ps -auxwww to find roslauch process and send HUP.

unitree@unitree-desktop:~$ ps -auxwww | grep roslaunch
unitree   7997  0.3  1.5 298308 62056 ?        Sl   16:24   0:05 /usr/bin/python /opt/ros/melodic/bin/roslaunch jsk_unitree_startup unitree_bringup.launch network:=ethernet
unitree   8553  0.0  0.0   7420   648 pts/2    S+   16:51   0:00 grep --color=auto roslaunch
unitree@unitree-desktop:~$ kill -HUP 7997

Run ROS command on Go1 Comptuer

ROS system are installed under /opt/jsk direcotry. To enable ROS debugging onboard, type source /opt/jsk/User/user_setup.bash.