History

Huang Zhenbiao a8d1029a0c add and tested lidar simulation		2025-02-27 10:09:12 +08:00
..
include/hardware_unitree_mujoco	add support for ground truth estimator	2025-01-16 16:56:04 +08:00
src	add support for ground truth estimator	2025-01-16 16:56:04 +08:00
CMakeLists.txt	hardware code cleanup	2024-09-18 22:27:16 +08:00
HardwareUnitree.xml	init commit	2024-09-09 22:18:19 +08:00
README.md	add support for ground truth estimator	2025-01-16 16:56:04 +08:00
package.xml	add and tested lidar simulation	2025-02-27 10:09:12 +08:00

README.md

Hardware Unitree Mujoco

This package contains the hardware interface based on unitree_sdk2 to control the Unitree robot in Mujoco simulator.

In theory, it also can communicate with real robot, but it is not tested yet. You can use go2 simulation in unitree_mujoco. In this simulation, I add foot force sensor support.

*[x] [2025-01-16] Add odometer states for simulation.

1. Interfaces

Required hardware interfaces:

command:
- joint position
- joint velocity
- joint effort
- KP
- KD
state:
- joint effort
- joint position
- joint velocity
- imu sensor
  - linear acceleration
  - angular velocity
  - orientation
- foot force sensor

2. Build

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy
Ubuntu 22.04
- ROS2 Humble

Build Command:

cd ~/ros2_ws
colcon build --packages-up-to hardware_unitree_mujoco