deleted useless readme
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Bian Zekun
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Packages Version: v3.2.1
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# Introduction
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This package can send control command to real robot from ROS. You can do low-level control(namely control all joints on robot) and high-level control(namely control the walking direction and speed of robot).
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This version is suitable for unitree_legged_sdk v3.2 and v3.1, namely A1 and Aliengo robot. Currently, all the A1 and Aliengo use v3.2. If your Aliengo is really old, then it may use v3.1.
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As for Go1, please use the v3.4 release version of this package and unitree_legged_sdk v3.4.
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# Dependencies
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* [unitree_legged_msgs](https://github.com/unitreerobotics/unitree_ros): `unitree_legged_msgs` is a package of [unitree_ros](https://github.com/unitreerobotics/unitree_ros).
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* [unitree_legged_sdk](https://github.com/unitreerobotics): If your robot is suitable for `unitree_legged_sdk`, then you do not need `aliengo_sdk`.
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* [aliengo_sdk](https://github.com/unitreerobotics): If your robot is suitable for `aliengo_sdk`, then you do not need `unitree_legged_sdk`.
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# Configuration
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Make sure the following exist in your `~/.bashrc` file or export them in terminal. `melodic`, `gazebo-8`, `~/catkin_ws`, `amd64` and the paths to `unitree_legged_sdk` should be replaced in your own case.
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If your use `unitree_legged_sdk`, then you need to set `UNITREE_SDK_VERSION=3_2` and the path `UNITREE_LEGGED_SDK_PATH`.
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Otherwise, if you use `aliengo_sdk`, you need to set `UNITREE_SDK_VERSION=3_1` and the path `ALIENGO_SDK_PATH`.
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```
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source /opt/ros/melodic/setup.bash
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source /usr/share/gazebo-8/setup.sh
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source ~/catkin_ws/devel/setup.bash
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export ROS_PACKAGE_PATH=~/catkin_ws:${ROS_PACKAGE_PATH}
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export GAZEBO_PLUGIN_PATH=~/catkin_ws/devel/lib:${GAZEBO_PLUGIN_PATH}
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export LD_LIBRARY_PATH=~/catkin_ws/devel/lib:${LD_LIBRARY_PATH}
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# 3_1, 3_2
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export UNITREE_SDK_VERSION=3_2
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export UNITREE_LEGGED_SDK_PATH=~/unitree_legged_sdk
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export ALIENGO_SDK_PATH=~/aliengo_sdk
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# amd64, arm32, arm64
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export UNITREE_PLATFORM="amd64"
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```
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# Build
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You can use catkin_make to build ROS packages. First copy the package folder to `~/catkin_ws/src`, then:
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```
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cd ~/catkin_ws
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catkin_make
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```
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Before compiling `unitree_legged_real`, please make sure that the `unitree_legged_msgs` has been compiled.
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# Setup the net connection
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First, please connect the network cable between your PC and robot. Then run `ifconfig` in a terminal, you will find your port name. For example, `enx000ec6612921`.
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Then, open the `ipconfig.sh` file under the folder `unitree_legged_real`, modify the port name to your own. And run the following commands:
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```
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sudo chmod +x ipconfig.sh
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sudo ./ipconfig.sh
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```
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If you run the `ifconfig` again, you will find that port has `inet` and `netmask` now.
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In order to set your port automatically, you can modify `interfaces`:
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```
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sudo gedit /etc/network/interfaces
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```
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And add the following 4 lines at the end:
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```
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auto enx000ec6612921
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iface enx000ec6612921 inet static
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address 192.168.123.162
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netmask 255.255.255.0
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```
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Where the port name have to be changed to your own.
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# Run the package
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You can control your real robot(only A1 and Aliengo) from ROS by this package.
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First you have to run the `real_launch` under root account:
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```
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sudo su
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source /home/yourUserName/catkin_ws/devel/setup.bash
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roslaunch unitree_legged_real real.launch rname:=a1 ctrl_level:=highlevel firmwork:=3_2
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```
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Please watchout that the `/home/yourUserName` means the home directory of yourself. These commands will launch a LCM server. The `rname` means robot name, which can be `a1` or `aliengo`(case does not matter), and the default value is `a1`. And the `ctrl_level` means the control level, which can be `lowlevel` or `highlevel`(case does not matter), and the default value is `highlevel`. Under the low level, you can control the joints directly. And under the high level, you can control the robot to move or change its pose. The `firmwork` means the firmwork version of the robot. The default value is `3_2` Now all the A1's firmwork version is `3_2`.
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In order to send message to robot, you need to run the controller in another terminal(also under root account):
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```
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rosrun unitree_legged_real position_lcm
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```
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We offered some examples. When you run the low level controller, please make sure the robot is hanging up. The low level contains:
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```
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position_lcm
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velocity_lcm
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torque_lcm
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```
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The `velocity_lcm` and `torque_lcm` have to run under root account too. Please use the same method as runing `real_launch`.
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And when you run the high level controller, please make sure the robot is standing on the ground. The high level only has `walk_lcm`.
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