Unitree_go1_ws

This repo is for unitree go1 robot bringup

Objective: Packages to simulate Unitree Go1 in Gazebo and control the robot with keyboard based on ROS

Table of Contents

• 1. Prerequisite
• 2. Installation
  • Clone repo including necessary packages
  • Install dependencies
  • Build unitree_legged_sdk manually
  • Build workspace
• 3. Simulation Running
  • Launch gazebo simulation
  • Control the robot with keyboard

1. Prerequisite

• Ubuntu 20.04 with ROS noetic or Ubuntu 18.04 with ROS melodic

2. Installation

2.1 Clone repo including necessary packages

• cd to a directory you like to install

  cd <your favorite directory>

• Clone this repo with submodule mode

  git clone --recurse-submodules https://github.com/Ngochuy2137/unitree_go1_ws.git

• Update all sub repos

  cd unitree_go1_ws
  git submodule update --init --recursive

• In the unitree_ros repo, branch master, all packages are setup to check out to proper branches for go1 robot. Therefore, you don’t need to checkout or do anything complicatedly.

2.2 Install dependencies

• Install ROS dependencies with rosdep

  cd <your favorite directory>/unitree_go1_ws
  rosdep install --from-paths src --ignore-src -r -y

• Install lcm library if you don’t have

  sudo apt install liblcm-dev

2.3 Build unitree_legged_sdk manually

• unitree_ros_to_real isn’t a ROS package, so we need to build it directly by Cmake instead of catkin build or catkin_make

• cd to the package

  cd src/unitree_ros/unitree_ros_to_real/unitree_legged_sdk

• If the following steps don’t work, Build the unitree_legged_sdk package by following the instruction in README file

  mkdir build
  cd build
  cmake ..
  make

2.4 Build workspace

cd <your favorite directory>/unitree_go1_ws
catkin build

3. Simulation Running

Reference: Link

Note:

Before running any following command in any terminal, you need to source your workspace before.

source cd <unitree_go1_ws directory>/devel/setup.bash

3.1 Launch gazebo simulation

After installing all requirements Link, let ‘s run gazebo simulation

• Firstly, access file normal.launch in unitree_ros/unitree_gazebo/launch/normal.launch
• Modify your robot (Ex: go1) in argument rname

roslaunch unitree_guide gazeboSim.launch

3.2 Control the robot with keyboard

./devel/lib/unitree_guide/junior_ctrl
# or 
# rosrun unitree_guide junior_ctrl

After starting the controller, the robot will lie on the ground of the simulator, then press the '2' key on the keyboard to switch the robot's finite state machine (FSM) from Passive(initial state) to FixedStand, then press the '4' key to switch the FSM from FixedStand to Trotting, now you can press the 'w' 'a' 's' 'd' key to control the translation of the robot, and press the 'j' 'l' key to control the rotation of the robot. Press the Spacebar, the robot will stop and stand on the ground . (If there is no response, you need to click on the terminal opened for starting the controller and then repeat the previous operation)

• When run rosrun unitree_guide junior_ctrl , a node named unitree_gazebo_servo is generated and it will calculate and publish commands to the following topics, corresponding to each leg joint, which are subscribed by the robot in Gazebo or in reality:

  💡 Topics

  • Front Left leg:
    • /go1_gazebo/FL_calf_controller/command [unitree_legged_msgs/MotorCmd]
    • /go1_gazebo/FL_hip_controller/command [unitree_legged_msgs/MotorCmd]
    • /go1_gazebo/FL_thigh_controller/command [unitree_legged_msgs/MotorCmd]
  • Front Right leg:
    • /go1_gazebo/FR_calf_controller/command [unitree_legged_msgs/MotorCmd]
    • /go1_gazebo/FR_hip_controller/command [unitree_legged_msgs/MotorCmd]
    • /go1_gazebo/FR_thigh_controller/command [unitree_legged_msgs/MotorCmd]
  • Rear Left leg:
    • /go1_gazebo/RL_calf_controller/command [unitree_legged_msgs/MotorCmd]
    • /go1_gazebo/RL_hip_controller/command [unitree_legged_msgs/MotorCmd]
    • /go1_gazebo/RL_thigh_controller/command [unitree_legged_msgs/MotorCmd]
  • Rear Right leg:
    • /go1_gazebo/RR_calf_controller/command [unitree_legged_msgs/MotorCmd]
    • /go1_gazebo/RR_hip_controller/command [unitree_legged_msgs/MotorCmd]
    • /go1_gazebo/RR_thigh_controller/command [unitree_legged_msgs/MotorCmd]

• The message type of these topics is unitree_legged_msgs/MotorCmd:

  💡 unitree_legged_msgs/MotorCmd

  • uint8 mode
  • float32 q
  • float32 dq
  • float32 tau
  • float32 Kp
  • float32 Kd
  • uint32[3] reserve