Introduction

This package is a modification of the official packages of unitree. Is completely functional, and is able to control the movement (x, y, yaw) of the robot Go1, sending Twist messages to the topic /cmd_vel. The package include a keyboard controller to operate the Go1.

Packages:

Basic message function: unitree_legged_msgs

Software development kit by unitree (modified): unitree_legged_sdk

The interface between ROS and real robot: unitree_legged_real

Environment

Is recommended to run this package in Ubuntu 18.04 and ROS melodic environment.

Dependencies

• Boost (version 1.5.4 or higher)
• CMake (version 2.8.3 or higher)
• LCM (version 1.4.0 or higher)
• g++ (version 8.3.0 or higher)

LCM installation:

cd lcm-x.x.x
mkdir build
cd build
cmake ../
make
sudo make install

Installation

Just have to clone the repository in your workspace:

cd ~/catkin_ws/src
git clone https://github.com/Taucrates/Go1_ros_to_real.git
cd ..
catkin_make

Run the package

The first step is the execution of the node that enables communication between your machine and the Go1:

roslaunch unitree_legged_real real.launch

In that place you should be able to control the robot sending Twist messages to the topic /cmd_vel. In the case you want to control the robot using the keyboard (use a numeric keyboard) just have to run:

rosrun teleop_twist_keyboard_cpp teleop_twist_keyboard