56 lines
1.9 KiB
Markdown
56 lines
1.9 KiB
Markdown
Packages Version: v3.8.3
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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 v3.8.3, namely B1 robot.
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## Packages:
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Basic message function: `unitree_legged_msgs`
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The interface between ROS and real robot: `unitree_legged_real`
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## Environment
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We recommand users to run this package in Ubuntu 20.04 and ROS neotic environment
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## Dependency
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* [unitree_legged_sdk](https://github.com/unitreerobotics/unitree_legged_sdk/releases)
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### Notice
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The release [v3.8.3](https://github.com/unitreerobotics/unitree_legged_sdk/releases/tag/v3.8.3) only supports for robot: B1.
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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 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:
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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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# Run the package
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You can control your real B1 robot from ROS by this package.
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Before you run expamle program, please run
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```
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roslaunch unitree_legged_real real.launch ctrl_level:=highlevel
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```
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or
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```
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roslaunch unitree_legged_real real.launch ctrl_level:=lowlevel
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```
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It depends which control mode you want to use.
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Then, if you want to run high-level control mode, you can run example_walk node
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```
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rosrun unitree_legged_real example_walk
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```
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If you want to run low-level control mode, you can run example_position program node
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```
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rosrun unitree_legged_real example_postion
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```
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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
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mode in which you can do low-level control, finally make sure you hang the robot up before you run low-level control.
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