kimsooyoung / go1_ros2

Unitree Go1 ROS 2 API && Examples

sudo apt install ros-eloquent-joy -y
cbp ros2_unitree_legged_msgs && roseloq
cbp unitree_legged_real && roseloq
cbp unitree_joy_cmd && roseloq

ros2 run unitree_legged_real ros2_udp highlevel
ros2 run unitree_legged_real ros_state_helper
ros2 launch unitree_joy_cmd eloquent_joy_cmd.launch.py

# integrated launch
ros2 launch unitree_legged_real eloquent_high_level.launch.py
ros2 run joy joy_node

TODO

[] 3D option param [] sit down & yaw jump [] keyboard cmd [] low level cmd [] camera sub - composition [] ROS 2 Sim - Ignition Gazebo