Build docker image

docker build . -t bytelogics:z1_controller

Run the docker instance

For python connection:

docker run -ti --rm --network host bytelogics:z1_controller

For manual build within a docker: Make sure you are not in build folder but in the parent then run docker run -it --net=host --env="ROS_MASTER_URI=http://host.docker.internal:11311" bytelogics:z1_controller bash docker run -ti --rm --network host bytelogics:z1_controller bash cmake .. -DCOMMUNICATION=ROS make ./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

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

macos v2

brew install --cask mambaforge mamba create -n ros_env mamba init mamba activate ros_env conda config --env --add channels robostack-staging mamba install ros-noetic-desktop-full mamba install compilers cmake pkg-config make ninja colcon-common-extensions catkin_tools ./prepare_unitree_ws.sh cd unitree_ws rm -Rf src/unitree_controller rm -Rf src/z1_controller rm -Rf src/unitree_legged_control

catkin_make source devel/setup.bash roslaunch unitree_gazebo z1_empty.launch

go to dockcker and run

roslaunch unitree_gazebo z1_spawn.launch

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