1.9 KiB
Packages Version: v3.8.3
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 v3.8.3, namely B1 robot.
Packages:
Basic message function: unitree_legged_msgs
The interface between ROS and real robot: unitree_legged_real
Environment
We recommand users to run this package in Ubuntu 20.04 and ROS neotic environment
Dependency
Notice
The release v3.8.3 only supports for robot: B1.
Build
You can use catkin_make to build ROS packages. First copy the package folder to ~/catkin_ws/src, then download the corresponding unitree_legged_sdk into ~/catkin_ws/src/unitree_ros_to_real.Be careful with the sdk folder name. It should be "unitree_legged_sdk" without version tag:
cd ~/catkin_ws
catkin_make
Run the package
You can control your real B1 robot from ROS by this package.
Before you run expamle program, please run
roslaunch unitree_legged_real real.launch ctrl_level:=highlevel
or
roslaunch unitree_legged_real real.launch ctrl_level:=lowlevel
It depends which control mode you want to use.
Then, if you want to run high-level control mode, you can run example_walk node
rosrun unitree_legged_real example_walk
If you want to run low-level control mode, you can run example_position program node
rosrun unitree_legged_real example_postion
And before you do the low-level control, please press L2+A to sit the robot down and then press L1+L2+start to make the robot into mode in which you can do low-level control, finally make sure you hang the robot up before you run low-level control.