2024-09-10 22:30:30 +08:00
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# Unitree Guide Controller
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2024-09-20 15:29:44 +08:00
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This is a ros2-control controller based on unitree guide. The original unitree guide project could be
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found [here](https://github.com/unitreerobotics/unitree_guide). I used KDL for the kinematic and dynamic calculation, so
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the controller performance has difference with the original one (sometimes very unstable).
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2024-09-10 22:30:30 +08:00
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2024-09-20 17:56:00 +08:00
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Tested environment:
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* Ubuntu 24.04
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* ROS2 Jazzy
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* Ubuntu 22.04
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* ROS2 Humble
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2024-09-30 17:48:59 +08:00
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[](https://www.bilibili.com/video/BV1aJbAeZEuo/)
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2024-09-20 17:56:00 +08:00
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2024-09-20 15:29:44 +08:00
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## 1. Interfaces
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Required hardware interfaces:
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* command:
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* joint position
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* joint velocity
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* joint effort
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* KP
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* KD
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* state:
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* joint effort
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* joint position
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* joint velocity
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* imu sensor
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* linear acceleration
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* angular velocity
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* orientation
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## 2. Build
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```bash
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cd ~/ros2_ws
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colcon build --packages-up-to unitree_guide_controller
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```
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2024-09-20 15:29:44 +08:00
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## 3. Run
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* [Go2 in mujoco simulation](../../descriptions/go2_description)
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* [Go1/A1 in gazebo simulation](../../descriptions/quadruped_gazebo)
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