Introduction

This repo uses unitree_ros2 from unitree for controlling GO2, B2, Aliengo, and z1_sdk/z1_controller for the Z1 arm.

We add on top of these some new messages and a complete robot_hal script to talk with the robots in ROS2, compatible with some dls controllers and state estimators, like basic-locomotion-dls-isaaclab, and soon Quadruped-PyMPC and muse.

Dependencies

The main dependencies other ros-humble are

ros-humble-rmw-cyclonedds-cpp
ros-humble-rosidl-generator-dds-idl

An example of conda environment containing these dependencies can be found in the folder installation, which can be used by doing

conda env create -f mamba_environment.yml
conda activate unitree_ros2_humble_env

Be sure to have these before proceeding!

Unitree ROS2 package

Follow README_unitree_ros2 to install the thing needed for GO2, B2, A2.

Z1 sdk/controller packages

Follow README_unitree_z1 to install the thing needed for Z1.