tsinghua-Unitree-ROS
Introduction
Hardware:
- Upboard : Z8350 4G Memory 64G Hard Disk
- Computer : Jetson Xaiver NX / NUC8 i7-8650U
- Lidar : Velodyne-16
- IMU: Advanced Navigation Spatial + Tallysman GPS
- Camera: intel D435i
System environment:
- Ubuntu18.04 LTS
- ROS melodic 1.14.11
Learning materials:
An overview of the Robot Operating System(CN)
Document description
Conducted in two lines
ROS Workspace
- Lidar: Velodyne / Lslidar
- 9-axis IMU: Spatial
- Binocular camera: intel D435i
A study of SUSTech patroldog_ws (Abandoned)
Document links
- ROS_ws
- Development Environment Installation Steps
- unitree ros Development Notes
- unitree API interface protocols
- Key Functions
- intel D435i camera
- Velodyne-16-wire LiDAR
- Spatial 9-axis IMU
Project progress:
- Test environment build + compile driver (unitree_ros)
- Gazebo dynamics simulation for Unitree_ROS (aborted)
- unitree_legged_sdk API library research (no need to look, based on running on ROS)
- Research patroldog_ws related code (can run basic functions, need secondary development)
- Build your own ROS_ws project and improve the documentation
- TF coordinate transformation
Picture:
Hardware architecture diagram
Software architecture diagram
Hardware related:
intel D435i
Github: librealsense
ROS: realsense-ros
Velodyne 16
Github: velodyne
ROS wiki: Getting Started with the Velodyne VLP16
9-axis IMU - Spatial:
Official website: Spatial
ROS wiki: advanced_navigation_driver
References:
unitree Technology A1 Product Description:
https://www.unitree.com/cn/products/a1
A1 ROS related:
https://github.com/unitreerobotics/unitree_ros
https://github.com/unitreerobotics/unitree_legged_sdk
C++ Key functions:
https://www.iteye.com/blog/bingtears-663149
Third party motion control:
https://github.com/lnotspotl/a1_sim_py
Google research:
https://xbpeng.github.io/projects/Robotic_Imitation/index.html
https://ai.googleblog.com/2020/04/exploring-nature-inspired-robot-agility.html