Getting Started

We provided two examples to help you get started with the Unitree Go1 sim-to-sim and sim-to-real.

You need to add the apt source of Unitree build farm to your system, and install the Unitree description packages, which contains the URDF, MJCF files, needed for both sim-to-sim and sim-to-real.

# Add apt source
echo "deb [trusted=yes] https://github.com/qiayuanl/unitree_buildfarm/raw/jammy-humble-amd64/ ./" | sudo tee /etc/apt/sources.list.d/qiayuanl_unitree_buildfarm.list
echo "yaml https://github.com/qiayuanl/unitree_buildfarm/raw/jammy-humble-amd64/local.yaml humble" | sudo tee /etc/ros/rosdep/sources.list.d/1-qiayuanl_unitree_buildfarm.list
sudo apt-get update

# Instsall description packages
sudo apt-get install ros-humble-unitree-description

Running the Unitree Go1 in MuJoCo

Make sure that you have installed the basic package of legged_control2 as well as mujuco_ros2_control.

Clone and build the unitree_bringup package

mkdir -p ~/colcon_ws/src && cd ~/colcon_ws/src
git clone git@github.com:qiayuanl/unitree_bringup.git
cd ~/colcon_ws
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelwithDebInfo --packages-up-to unitree_bringup
source install/setup.bash

Some visualization tools are useful but not necessary:

sudo apt-get install ros-humble-ros2-controllers ros-humble-rqt ros-humble-rqt-controller-manager ros-humble-rqt-publisher ros-humble-rviz2

Launch the simulation:

ros2 launch unitree_bringup mujoco.launch.py robot_type:='go1'

Switch between controllers:
```
rqt
```
Load controller plugin in rqt, right click to config & load different controllers.

Running the Unitree Go1 in Real

Run on the user computer

We can run all the software on the user computer, and use the EtherNet calbe to receive the readings and send the commands to the robot. This is a good way to test the software before deploying it on the robot.

Install the Unitree hardware dependency (SDKs):

sudo apt-get install ros-humble-unitree-systems

Follow the instructions in the sim-to-sim to clone and build the unitree_bringup package. Everything is the same except the launch file:
```
ros2 launch unitree_bringup real.launch.py robot_type:='go1'
```

Run on the on-board computer

Writing your own controller

Check template in legged_template_controller package.