This guide is intended to help users get started using the Go1 EDU using ROS.
The following packages are used to control the robot using ROS.
v3.8.0 of the unitree_legged_sdk and the unitree_ros_to_real repositories are the latest compatible versions with the Go1 EDU.
Unitree’s SDK used to control their legged robots either onboard the robot or remotely.
Clone/download the packages and their required versions to your catkin workspace.
$ mkdir -p catkin_ws/src # 'catkin_ws' can be anything $ cd ~/catkin_ws/src $ git clone -b v3.8.0 https://github.com/unitreerobotics/unitree_legged_sdk $ git clone -b v3.8.0 https://github.com/unitreerobotics/unitree_ros_to_real
Get ROS dependencies
$ cd ~/catkin_ws $ rosdep update --include-eol-distros $ rosdep install --from-paths src --ignore-src -r -y --rosdistro=$ROS_DISTRO $ catkin_make
Build the workspace.
$ cd ~/catkin_ws/src $ catkin_make
Source the devel space to configure your terminal’s environment to find packages, launch files, executables, etc.
$ source ~/catkin_make/devel/setup.bash
The above command can be added to the end of the
~/.bashrc file to configure every new terminal opened.
Examples ROS demos can be found in the unitree_legged_real/src/exe directory.
The following steps demonstrate basic usage of the Unitree packages using high-level control.
During this demo, the robot will walk around. Make sure nothing is in the robot’s way.
Terminal 1: Launch the high-level UDP connection node.
$ roslaunch unitree_legged_real real.launch ctrl_level:=highlevel
Terminal 2: Launch the example_walk demo. Observe the robot as it moves around.
$ rosrun unitree_legged_real example_walk
Running the state_sub demo subscribes to the robot’s state and gets feedback from the robot.
rosrun unitree_legged_real state_sub