This package is base on unitree_ros_to_real v3.8.0, supporting only the Unitree Go1 quadruped.

Introduction

This ROS package provides high level control of the Unitree Go1 quadrupted, exposes the IMU data in /imu/data and also fixes the issue where tf is missing in the /odom message.

Environment

We recommand users to run this package in Ubuntu 18.04 and ROS melodic environment

Dependencies

unitree_legged_sdk v3.8.0

Install

git clone -b v3.8.0 https://github.com/unitreerobotics/unitree_legged_sdk.git ~/catkin_ws/src/unitree_legged_sdk
git clone https://github.com/ICE9-Robotics/unitree_ros_to_real.git ~/catkin_ws/src/unitree_ros_to_real

Then build the package:

cd ~/catkin_ws
catkin_make

Use

Follow this guide to connect to the Unitree network, then:

roslaunch unitree_legged_real real.launch