70 lines
2.9 KiB
Markdown
70 lines
2.9 KiB
Markdown
Packages Version: v3.4.0
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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 v3.4, namely Go1 robot.
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As for Aliengo or A1, please use the v3.2 release version of this package and unitree_legged_sdk v3.2.
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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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# Dependencies
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* [unitree_legged_sdk](https://github.com/unitreerobotics): v3.4
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# Configuration
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Before compiling this package, users have to modify the path to unitree_legged_sdk under the CMakeLists.txt of unitree_legged_real.
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Just search the "/home/bian/Robot_SDK/unitree_legged_sdk" and change it to your own path. If you are going to compile this package on a computer which is not AMD64 platform, then you have to search "libunitree_legged_sdk.so" under the CMakeLists.txt and change it to the .so file name which is suitable to your computer.
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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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```
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roslaunch unitree_legged_real real.launch ctrl_level:=highlevel
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```
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This command will launch a LCM server. 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.
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In order to send message to robot, you need to run the controller in another terminal:
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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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And when you run the high level controller, please make sure the robot is standing on the ground. The high level exmaple only has `walk_lcm`. |