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unitree_ros2_to_real

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A ROS2 package you can use to control the real Go1 robot

// repository documentation

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# Introduction
This package can send control command to real robot from ROS2. 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 v3.5.1, namely Go1 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 18.04 and ROS2 eloquent environment

# Dependencies
* [unitree_legged_sdk](https://github.com/unitreerobotics): v3.5.1

# Configuration
First, creat a directory.
```
mkdir -p ~/ros2_ws/src
```
Then download this package into this `~/ros_ws/src` folder.

After you download this package into this folder, your folder should be like this
```
~/ros2_ws/src/unitree_ros2_to_real
```

And now download unitree_legged_sdk v3.5.1 into the path `~/ros_ws/src_unitree_ros2_to_real`

# Build
```
colcon build
```

# Setup the net connection
First, please connect the network cable between your PC and robot. Then run `ifconfig` in a terminal, you will find your port name. For example, `enx000ec6612921`.

Then, open the `ipconfig.sh` file under the folder `unitree_legged_real`, modify the port name to your own. And run the following commands:
```
sudo chmod +x ipconfig.sh
sudo ./ipconfig.sh
```
If you run the `ifconfig` again, you will find that port has `inet` and `netmask` now.
In order to set your port automatically, you can modify `interfaces`:
```
sudo gedit /etc/network/interfaces
```
And add the following 4 lines at the end:
```
auto enx000ec6612921
iface enx000ec6612921 inet static
address 192.168.123.162
netmask 255.255.255.0
```
Where the port name have to be changed to your own.

# Run the package
Before you do high level or low level control, you should run the `ros2_udp` node, which is a bridge that connects users and robot
```
ros2 run unitree_legged_real ros2_udp highlevel
```

```
ros2 run unitree_legged_real ros2_udp lowlevel
```

it depends which control mode(low level or high level) you want to use.

In the high level mode, you can run the node `ros2_walk_example`
```
ros2 run unitree_legged_real ros2_walk_example
```

In the low level mode, you can run the node `ros2_position_example`
```
ros2 run unitree_legged_real ros2_position_example
```

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 joint-level control, finally make sure you hang the robot up before you run low-level control.

unitree_ros2_to_real

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