Hi @D-jojo

[empty814]

          Hi @D-jojo 

As it is written in the readme, you need to follow these steps to avoid memory locking:

Since the Unitree SDK requires memory locking and high-priority process, which is not usually granted without sudo, add the following lines to /etc/security/limits.conf (reboot the robot afterwards):

unitree soft memlock unlimited
unitree hard memlock unlimited
unitree soft nice eip
unitree hard nice eip 
unitree soft rtprio 99
unitree hard rtprio 99

If that does not work for you, do these steps

su
source /PATH/TO/WORKSPACE/devel/setup.sh
roslaunch agile_locomotion cms_ros.launch

Originally posted by @antonilo in #2 (comment)