unitree_legged

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Dependecies

vcs import < deps.repos
cd /unitree_a1_legged/lcm
mkdir build
cd build
cmake ../
make

Build

colcon build --packages-up-to --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=On -Wall -Wextra -Wpedantic

Before Launch

Before running the Unitree Legged Node, please follow these steps:

1. Position the Robot: Make sure the robot is lying on the ground, and the motors are turned on.

2. Sit Down the Robot: Press and hold the L1 button and A button to sit down the robot.

3. Activate Joint Control Mode: To control the robot's joints, press both the L1 and L2 buttons simultaneously, and then press the A button.

4. Ready to Launch: Once you have completed the above steps, you can proceed to launch the Unitree Legged Node.

cd ros2_ws
source /opt/ros/humble/setup.bash
ros2 run unitree_a1_legged udp

Press Enter to continue...

Example

run on second terminal

ros2 run unitree_a1_legged example_position

Worth to know

If the dynamic library cannot be found, you can use the following command.

export LD_LIBRARY_PATH=<PATH::TO::unitree_legged_sdk>/lib:$LD_LIBRARY_PATH

unitree_a1_legged

Docker