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-Packages Version: v3.2.1
-
-# Introduction
-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).
-
-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.
-As for Go1, please use the v3.4 release version of this package and unitree_legged_sdk v3.4.
-
-# Dependencies
-* [unitree_legged_msgs](https://github.com/unitreerobotics/unitree_ros): `unitree_legged_msgs` is a package of [unitree_ros](https://github.com/unitreerobotics/unitree_ros).
-* [unitree_legged_sdk](https://github.com/unitreerobotics): If your robot is suitable for `unitree_legged_sdk`, then you do not need `aliengo_sdk`.
-* [aliengo_sdk](https://github.com/unitreerobotics): If your robot is suitable for `aliengo_sdk`, then you do not need `unitree_legged_sdk`.
-
-# Configuration
-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. 
-If your use `unitree_legged_sdk`, then you need to set `UNITREE_SDK_VERSION=3_2` and the path `UNITREE_LEGGED_SDK_PATH`.
-Otherwise, if you use `aliengo_sdk`, you need to set `UNITREE_SDK_VERSION=3_1` and the path `ALIENGO_SDK_PATH`.
-
-```
-source /opt/ros/melodic/setup.bash
-source /usr/share/gazebo-8/setup.sh
-source ~/catkin_ws/devel/setup.bash
-export ROS_PACKAGE_PATH=~/catkin_ws:${ROS_PACKAGE_PATH}
-export GAZEBO_PLUGIN_PATH=~/catkin_ws/devel/lib:${GAZEBO_PLUGIN_PATH}
-export LD_LIBRARY_PATH=~/catkin_ws/devel/lib:${LD_LIBRARY_PATH}
-# 3_1, 3_2
-export UNITREE_SDK_VERSION=3_2
-export UNITREE_LEGGED_SDK_PATH=~/unitree_legged_sdk
-export ALIENGO_SDK_PATH=~/aliengo_sdk
-# amd64, arm32, arm64
-export UNITREE_PLATFORM="amd64"
-```
-
-# Build
-You can use catkin_make to build ROS packages. First copy the package folder to `~/catkin_ws/src`, then:
-```
-cd ~/catkin_ws
-catkin_make
-```
-Before compiling `unitree_legged_real`, please make sure that the `unitree_legged_msgs` has been compiled.
-
-# Setup the net connection
-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`.
-
-Then, open the `ipconfig.sh` file under the folder `unitree_legged_real`, modify the port name to your own. And run the following commands:
-```
-sudo chmod +x ipconfig.sh
-sudo ./ipconfig.sh
-```
-If you run the `ifconfig` again, you will find that port has `inet` and `netmask` now.
-In order to set your port automatically, you can modify `interfaces`:
-```
-sudo gedit /etc/network/interfaces
-```
-And add the following 4 lines at the end:
-```
-auto enx000ec6612921
-iface enx000ec6612921 inet static
-address 192.168.123.162
-netmask 255.255.255.0
-```
-Where the port name have to be changed to your own.
-
-# Run the package
-You can control your real robot(only A1 and Aliengo) from ROS by this package.
-
-First you have to run the `real_launch` under root account:
-```
-sudo su
-source /home/yourUserName/catkin_ws/devel/setup.bash
-roslaunch unitree_legged_real real.launch rname:=a1 ctrl_level:=highlevel firmwork:=3_2
-```
-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`.
-
-In order to send message to robot, you need to run the controller in another terminal(also under root account):
-```
-rosrun unitree_legged_real position_lcm
-```
-We offered some examples. When you run the low level controller, please make sure the robot is hanging up. The low level contains:
-```
-position_lcm
-velocity_lcm
-torque_lcm
-```
-The `velocity_lcm` and `torque_lcm` have to run under root account too. Please use the same method as runing `real_launch`.
-
-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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