Packages Version: v3.8.4

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 v3.8.4, namely Aliengo 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

• unitree_legged_sdk

Notice

The release v3.8.4 only supports for robot: Aliengo.

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 Aliengo 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_position

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.