ACRE Control Go2 Package

Introduction

The acre_ctrl package is a ROS2 package used to write control algorithms for the Unitree Go2. Before using acre_ctrl, please familiarize yourself with connecting to the Go2.

Running a Control Algorithm

Sportmode Driver

All control algorithms communicate with the sportmode_driver node. This node is responsible for communicating with the Unitree SDK and executing control commands on the Go2. To start the sportmode_driver node run:

ros2 run acre_ctrl sportmode_driver

The Sportmode driver can be executed with the following parameters:

Using Python Algorithms with the Control Node

acre_ctrl allows users to write simple algorithm classes in Python and then dynamically load these classes into the control loop to be executed. An algorithm class can be executed using the following command. Note that generally you should run the sportmode_driver and then the control_node.

ros2 run acre_ctrl control_node --ros-args -p algorithm:=/path/to/algorithm.py

The Control node can be executed with the following parameters: