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quadruped_ros2_control
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quadruped_ros2_control/commands/unitree_joystick_input
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Huang Zhenbiao 30e1dd627b add real go2 test 2025-03-30 11:04:48 +08:00
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include/unitree_joystick_input add real go2 test 2025-03-30 11:04:48 +08:00
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README.md add real go2 test 2025-03-30 11:04:48 +08:00
package.xml add real go2 test 2025-03-30 11:04:48 +08:00

README.md

Unitree Joystick Input Node

This node will listen to the wireless remote topic and publish a unitree_go::msg::dds_::WirelessController_ message by using unitree_sdk2.

Before use this node, please use ifconfig command to check the network interface to connect to the robot, then change the parameter in launch file.

Tested environment:

  • Ubuntu 24.04
    • ROS2 Jazzy

Build Command

cd ~/ros2_ws
colcon build --packages-up-to unitree_joystick_input --symlink-install

Launch Command

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_joystick_input joystick.launch.py

1. Use Instructions for Controllers

1.1 Unitree Guide Controller

  • Passive Mode: select
  • Fixed Down: start
  • Fixed Stand: start
    • Free Stand: right + X
    • Trot: right + Y
    • SwingTest: right + B
    • Balance: right + A

1.2 OCS2 Quadruped Controller

  • Passive Mode: select
  • OCS2 Mode: start
    • Stance: start
    • trot: right + X
    • standing trot: right + Y
    • flying_trot: right + B

1.3 RL Quadruped Controller

  • Passive Mode: select
  • Fixed Down: start
  • Fixed Stand: start
    • RL Mode: right + X