unitree_api_adapter

This package implements a ROS2 adapter for the Unitree dogs. The adapter is a ros2_control controller that interfaces with the Gazebo simulator and publishes the robot state and receives control commands via ROS topics.

Build the package

You need to get the ros message definitions from the unitree_ros2 package.

cd <path-to-workspace>/src
git clone https://github.com/rxdu/unitree_ros2.git
git clone https://github.com/rxdu/unitree_api_adapter.git
cd ..
colcon build --symlink-install

Use the controller plugin

You can refer to the config/controller.yaml file for the configuration of the adapter plugin. The configuration file should be passed to the gz_ros2_control-system plugin in the Gazebo model sdf file.

<gazebo>
    <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
        <parameters>$(find unitree_api_adapter)/config/controller.yaml</parameters>
    </plugin>
</gazebo>

If you use this plugin with unitree_go1_gazebo, you can specify the controller configuration file in the launch file:

robot_description = (
    xacro.process_file(xacro_file, mappings={
        'DEBUG': 'false',
        'GAZEBO': 'true',
        'CONTROLLER_CONFIG': '$(find unitree_api_adapter)/config/controller.yaml'
    }).toxml())

Please make sure the configuration for other controllers is correct if you use this plugin with your own simulation setup. In such cases, you may consider copying the "controller.yaml" file to your own package and modify the content accordingly.