This repository demonstrates how to use ros2_control interface to control unitree quadruped robots. A basic low-level controller from the unitree_guide is ported over and tested with the mujoco simulator. The packages were initially developed by Zhenbiao (@legubiao) during his internship at Weston Robot.
- Update rosdep to install dependencies
$ cd ~/ros2_ws
$ rosdep install --from-paths src --ignore-src -r -y- Build the packages
$ colcon build --symlink-install-
Run unitree mujoco simulation
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Launch the ros2-control
$ source ~/ros2_ws/install/setup.bash $ ros2 launch go2_description hardware.launch.py
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Run the keyboard control node
$ source ~/ros2_ws/install/setup.bash $ ros2 run keyboard_input keyboard_input
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Enjoy!