ROS 2 Unitree Go1 Nav2 Integration

This repository has code and launch files for running the Unitree Go1 in high level mode with ROS 2 Humble, the RoboSense RS-Helios-16P it comes with, RTAB-Map, and the Nav2 stack.

Dependencies:

Dependencies for this repository are listed in the nav.repos file. To import all dependencies, clone this repository into the src directory in your workspace root. Then from the workspace root directory, run the following commands:

vcs import < src/unitree_nav/nav.repos 
cd src/rslidar_sdk_ros2
git submodule init
git submodule update

Launch Files

Use ros2 launch unitree_nav ${launch_file_name} --show-args to view arguments for each launch file.

• unitree_nav.launch.py - launches everything necessary for controlling the Unitree Go1 with the Nav2 stack, including control and mapping nodes.
• control.launch.py - launches everything needed for ROS 2 control of the Unitree Go1 with services and cmd_vel publishing.
• mapping.launch.py - launches RS LiDAR and RTAB-Map nodes to map with point cloud data from the RS-Helios-16P.
• rslidar_robosense.launch.py - launches only RTAB-Map nodes set up in a configuration that is compatiable with the RS-Helios-16P.

Nodes

cmd_processor

This node handles commands and converts them into HighCmd messages which can be read by the high level UDP node in this repository and then sent to the Go1 for motion control.

It processes geometry_msgs/Twist messages sent on the cmd_vel topic to cause the Go1 to move. It also provides several services to trigger built in functions on the Go1.

Services

• reset_state - resets the commanded state to IDLE.
• stand_up - commands the Go1 to stand up.
• recover_stand - commands the Go1 to stand up, including from a fallen state. This is preferred over the stand_up service.
• lay_down - commands the Go1 to lay down.
• damping - puts the Go1's motors into "damping" mode. Use caution with this service - do NOT call this service while the robot is standing unsupported, it will cause it to fall.
• jump_yaw - commands the Go1 to jump 90° counterclockwise. Use caution with this service.
• beg - commands the Go1 to jump back into a begging stance. Use caution with this service.
• dance1 - commands the Go1 to perform its first dance. Use caution with this service.
• dance2 - commands the Go1 to perform its second dance. Use caution with this service.
• set_body_rpy - set the values for the roll, pitch, and yaw of the body in radians. Use caution with this service - specifying values that are too large may make the robot fall over. Consult the suggested limits specified in this file.

nav_to_pose

This node is an example for working with the Nav2 stack to command the Go1 to a certain pose in the map. It can be used as an example for a custom node or, for basic use, can be ran and its services used.

Services

• unitree_nav_to_pose - begins action client sequence to navigate the Go1 to a specified pose.
• unitree_cancel_nav - cancels all navigation goals.