Introduction

This package can send control commands to a real Go1 robot from ROS2. You can do low-level control (namely, control all joints of the robot) and high-level control (namely, control the walking direction and speed of the robot).

This version is suitable for unitree_legged_sdk v3.5.11.

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 24.04 and ROS2 eloquent environment

Dependencies

• unitree_legged_sdk: v3.5.11

Configuration

First, creat a workspace directory:

mkdir -p ~/ws/src

Then download this package into this ~/ws/src folder.

Now download unitree_legged_sdk v3.5.11 into the path ~/ws/src/unitree_ros2_to_real and rename the directory to unitree-legged-sdk-master.

Finally, move the ros2_unitree_legged_msgs directory to the ~/ws/src folder.

Your directory tree should be like this:

~/
|
- ws/
  |
  - src
    |
    + ros2_unitree_legged_msgs/
    + unitree_ros2_to_real/
      |
      - unitree_legged_sdk-master/

Build

cd ~/ws
colcon build

Setup the net connection

TODO

Run the package

Before any low-level control, press L2+A on the controller pad to lock the robot position and then press L1+L2+START to tell the robot to accept joint-level control.

First, source the unitree_ros2_to_real package:

source install/setup.bash

Then run the ros2_udp node, a bridge that connects user-software and the robot, with

ros2 run unitree_legged_real ros2_udp highlevel

for high-level control or

ros2 run unitree_legged_real ros2_udp lowlevel

for low-level control.

To run the high-level example:

ros2 run unitree_legged_real ros2_walk_example

And to run the low-level example:

ros2 run unitree_legged_real ros2_position_example