z1_controller/README.md

documentation

unitree-z1-docs-english

unitree-z1-docs-chinese

see unitree-z1-docs

Build docker image

docker build . -t bytelogics:z1_controller

Run the docker instance

Make sure you are not in build folder but in the parent then run

docker run -ti --rm --network host -p 8071:8071 bytelogics:z1_controller bash cmake .. -DCOMMUNICATION=ROS ./z1_ctrl you can try with ./z1_ctrl k for keyboard

Cmake command you can do catkin_make -DCOMMUNICATION=ROS then you dont need to edit the cmake.txt file