https://github.com/jonasfovea/go1controller
ROS package to control the Unitree Go1 robot
https://github.com/jonasfovea/go1controller
Last synced: about 2 months ago
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ROS package to control the Unitree Go1 robot
- Host: GitHub
- URL: https://github.com/jonasfovea/go1controller
- Owner: JonasFovea
- Created: 2022-09-30T06:08:02.000Z (over 2 years ago)
- Default Branch: main
- Last Pushed: 2022-11-24T09:48:07.000Z (over 2 years ago)
- Last Synced: 2025-02-13T17:53:36.650Z (4 months ago)
- Language: C++
- Size: 89.8 KB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# go1controller package
The `go1controller` package can be used to control the robot via ROS.
It currently supports testing the connection by cycling between standing and laying down with the `testHigh.py` script and controlling the robot with a gamepad.
## Usage
### testHigh
To run the `testHigh.py` script open a terminal and run:
```bash
roslaunch unitree_legged_real real.launch ctrl_level:=HIGHLEVEL
```
This starts the translation layer between ROS messages and the UDP protocol.
Then start up a second terminal and run:
```bash
rosrun go1controller testHigh.py
```
The robot should now change its position every ten seconds.
### joystick_control
To run the `joystick_control` program you can either start the translation layer by unitree as shown above
and then run `rosrun go1controller joystick_control [gamepad layout number]`
or run the provided launch file, which also starts the translation layer:
```bash
roslaunch go1coltroller joystick_control.launch [gamepad layout number]
```
Then in another terminal start the joystick input:
```bash
rosrun joy joy_node
```
Make sure a gamepad is connected to the computer. You maybe also have to change the selected device.
## Troubleshooting
If the robot doesn't move, make sure you are connected via ethernet or Wi-Fi.
Make sure, you can ping `192.168.123.161`.
To change the joystick input device follow [this link](http://wiki.ros.org/joy/Tutorials/ConfiguringALinuxJoystick)