93 lines
3.2 KiB
Markdown
93 lines
3.2 KiB
Markdown
Packages Version: v3.8.0
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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 v3.5.1, namely Go1 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 18.04 and ROS melodic environment
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## Dependencies
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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 newest release [v3.8.0](https://github.com/unitreerobotics/unitree_legged_sdk/releases/tag/3.8.0) only supports for robot: Go1.
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Check release [v3.3.4](https://github.com/unitreerobotics/unitree_legged_sdk/releases/tag/3.3.4) for A1 support.
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# Configuration
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Before compiling this package, please download the corresponding unitree_legged_sdk as noted above, and put it to your own workspace's source folder(e.g. `~/catkin_ws/src`). Be careful with the sdk folder name. It should be "unitree_legged_sdk" without version tag.
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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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# 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 Go1 robot from ROS by this package.
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Before you run expamle program, please run command
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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 like this
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```
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rosrun unitree_legged_real ros_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 like this
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```
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rosrun unitree_legged_real ros_example_postion
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```
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You can also run the node state_sub to subscribe the feedback information from Go1 robot
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```
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rosrun unitree_legged_real state_sub
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```
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You can also run the launch file that enables you control robot via keyboard like you can do in turtlesim package
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```
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roslaunch unitree_legged_real keyboard_control.launch
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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 joint-level control, finally make sure you hang the robot up before you run low-level control.
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