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

old docker run -ti --rm --network host --env="DISPLAY" -e DISPLAY=${HOSTNAME}:0 --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --volume="/Users/keithsiilats/overlay_ws:/data/overlay_ws" --volume="/Users/keithsiilats/unitree_ws:/data/unitree_ws" -p 8071:8071 -p 11311:11311 bytelogics:z1_controller bash

docker run -ti --rm --network host --env="DISPLAY=novnc:0.0" --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --volume="/Users/keithsiilats/overlay_ws:/data/overlay_ws" --volume="/Users/keithsiilats/unitree_ws:/data/unitree_ws" -p 8071:8071 -p 11311:11311 bytelogics:z1_controller bash docker run -d --rm --network host --env="DISPLAY_WIDTH=3000" --env="DISPLAY_HEIGHT=1800" --env="RUN_XTERM=no"
--name=novnc -p=8080:8080 theasp/novnc:latest

on mac setup

https://gist.github.com/cschiewek/246a244ba23da8b9f0e7b11a68bf3285 cd /data/unitree_ws source devel/setup.bash roslaunch unitree_gazebo z1.launch