unitree_ros2

An unofficial ROS 2 package for Unitree's quadruped robots.

Tested on Ubuntu 22.04 LTS with ROS 2 Humble.

Installation

Local Installation

Install the required dependencies by running:

bash unitree_controller/script/install_requirement.sh

Docker

Build the Docker Image

docker build . -t unitree_ros2:latest

Run the Docker Container

docker compose up a1

Notes

• TODO: check communication between the Docker container and the real robot.

echo the state

 ros2 topic echo /joint_states | awk '
  /^header:/ { getline; getline; print; getline; print }
  /^position:/ {
    print
    for(i=1; i<=12; i++) {getline; print }
  }
  /^effort:/ {
    print
    for(i=1; i<=12; i++) {getline; print }
  }
' > position_output.txt

echo the foot force

ros2 topic echo /dynamic_joint_states | awk '
/sec:/ {print "sec: " $2}
/nanosec:/ {print "nanosec: " $2}
/- interface_names:/ {in_names=1; names=""; next}
in_names && /^  - / {names = names $2 " "; next}
in_names && !/^  - / {in_names=0}
/^  values:/ {in_values=1; next}
in_values && /^  - / {
    if (names == "force.z ") {
        print "force.z: " $2
        in_values=0
    }
    next
}
' > force_output.txt

build and run

colcon build --packages-ignore lcm gazebo_ros2_control_demos --cmake-args -Wno-dev && source install/setup.bash && ros2 launch unitree_controller a1.launch.py

new for mujoco

colcon build --packages-ignore lcm gazebo_ros2_control_demos unitree_gazebo unitree_teleop --cmake-args -Wno-dev && source  install/setup.bash  && ros2 launch unitree_controller a1_mujoco.launch.py

in another terminal eg: phuc@pro:~/working/a1_sim/unitree_mujoco/simulate/build(master)$

sudo rm -f /dev/shm/UnitreeGo2Shm && make -j10 && ./unitree_mujoco -r a1 

• As we use the unitree mujoco, we just do 2 terminal here, as mujoco should run separatedly to avoid concurency.

TODO: migration to mujoco:

• how to use the unitree_mujoco

• problem: the shared memory sometimes works, some time does not, when we stop the ros2_control and run again, it can not fetch the address

• also when reload in mujoco simulatino UI, it does not work

• we did unlink memory when we initialize the mujoco, so we should run the mujoco first

• use alignment for shm, so it can be vectorized

• refine the rvis, clean the code, dynamic changing of Kd, Kp (100, 15 for real hardware)