ROS2 Control Interface for Unitree Quadrupeds

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.

Build the packages

• Update rosdep to install dependencies

$ cd ~/ros2_ws
$ rosdep install --from-paths src --ignore-src -r -y

• Build the packages

$ colcon build --symlink-install

Quick Start

1. Run unitree mujoco simulation

2. Launch the ros2-control

   $ source ~/ros2_ws/install/setup.bash
   $ ros2 launch go2_description hardware.launch.py

3. Run the keyboard control node

   $ source ~/ros2_ws/install/setup.bash
   $ ros2 run keyboard_input keyboard_input

4. Enjoy!