Overview
This page describes how to setup environment to simulate and control Go1 with ROS. The following contents are included.
- Launch Docker
- Prepare catkin workspace
- Install ROS packages
Environment
- unitree_legged_sdk v3.5.1 (v3.8.0)
- unitree_ros_to_real v3.5.0
- unitree_ros (version is not specified. installed on June 29, 2022)
Since unitree_* repositories seem not to be well synchronized, you may need to add some modifications if you use newer versions.
Procedure
Run docker
docker run -p 6080:80 --shm-size=512m --name ros_go1 -d tiryoh/ros-desktop-vnc:melodic
Then, access to
http://127.0.0.1:6080
with your browser.
Preparation of catkin workspace
Launch terminal in the browser, and make catkin workspace directory.
mkdir -p catkin_ws/src
cd catkin_ws
You can use catkin build instead of catkin_make by installing the following package.
sudo apt install python-catkin-tools
or
sudo apt install python3-catkin-tools
for ROS noetic.
Then, initialize it with
cd ~/catkin_ws
catkin init
Make sure that run this command in catkin_ws directory.
Installation of packages
You need to install several packages and libraries to run the ROS simulator.
- unitree_legged_sdk
- Boost (version 1.5.4 or higher)
- CMake (version 2.8.3 or higher)
- LCM (version 1.4.0 or higher)
- g++ (version 8.3.0 or higher)
- unitree_ros_to_real
- unitree_ros
unitree_legged_sdk
Boost
sudo apt update
sudo apt install libboost-dev
CMake
LCM
cd ~/catkin_ws/src
git clone https://github.com/lcm-proj/lcm.git
cd lcm
mkdir build
cd build
cmake ..
make
sudo make install
g++
You can check the version of g++ with
g++ --version
If it is lower than the requirement, install higher versions.
(You don't need all of them.)
sudo apt install build-essential
sudo apt -y install g++-7 g++-8 g++-9
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-7 7
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-8 8
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-9 9
g++ --version
unitree_legged_sdk
cd ~/catkin_ws/src
git clone https://github.com/unitreerobotics/unitree_legged_sdk.git
cd unitree_legged_sdk
mkdir build
cd build
cmake ..
make
unitree_ros_to_real
cd ~/catkin_ws/src/
git clone https://github.com/unitreerobotics/unitree_ros_to_real.git
catkin build unitree_legged_msgs unitree_legged_real
cd ../
source devel/setup.bash
Since the original path for unitree_legged_sdk is not set correctly, you need to modify unitree_ros_to_real/unitree_legged_real/CMakeLists.txt as follows:
+ set(LEGGED_SDK_DIR "${PROJECT_SOURCE_DIR}/../../unitree_legged_sdk")
include_directories(
include
${catkin_INCLUDE_DIRS}
- ${CMAKE_SOURCE_DIR}/unitree_legged_sdk-master/include
+ ${LEGGED_SDK_DIR}/include
)
- link_directories(${CMAKE_SOURCE_DIR}/unitree_legged_sdk-master/lib)
+ link_directories(${LEGGED_SDK_DIR}/lib)
If you are working on v3.8.0 of unitree_legged_sdk, change the file as follows:
- set(LEGGED_SDK_NAME -pthread libunitree_legged_sdk_${ARCH}.so lcm)
+ set(LEGGED_SDK_NAME -pthread libunitree_legged_sdk.so lcm)
set(EXTRA_LIBS ${LEGGED_SDK_NAME} lcm)
set(CMAKE_CXX_FLAGS "-03 0fPIC")
+ set(LEGGED_SDK_DIR "${PROJECT_SOURCE_DIR}/../../unitree_legged_sdk")
include_directories(
include
${catkin_INCLUDE_DIRS}
- ${CMAKE_SOURCE_DIR}/unitree_legged_sdk-master/include
+ ${LEGGED_SDK_DIR}/include
)
- link_directories(${CMAKE_SOURCE_DIR}/unitree_legged_sdk-master/lib)
+ link_directories(${LEGGED_SDK_DIR}/lib/cpp/${ARCH})
If you use python, replace cpp with python.
Note that unitree_legged_real is not required for the simulation, and so you can skip its compiling if not necessary.
unitree_ros
cd ~/catkin_ws/src
git clone https://github.com/unitreerobotics/unitree_ros.git
sudo apt update
sudo apt upgrade
sudo apt install ros-melodic-controller-interface ros-melodic-gazebo-ros-control ros-melodic-joint-state-controller ros-melodic-effort-controllers ros-melodic-joint-trajectory-controller
Then, modify the last line in unitree_ros/unitree_gazebo/worlds/stairs.world
<include>
- <uri>model:///home/unitree/catkin_ws/src/unitree_ros/unitree_gazebo/worlds/building_editor_models/stairs</uri>
+ <uri>model:///home/ubuntu/catkin_ws/src/unitree_ros/unitree_gazebo/worlds/building_editor_models/stairs</uri>
</include>
Finally, build packages.
catkin build
source devel/setup.bash
You may get an error message indicating unitree_joint_control_tool cannot be included.
In that case, try to modify the last line in unitree_ros/unitree_legged_control/CMakeLists.txt to specify another one formatted as elf64-littleaarch64 instead of the default one, lib/libunitree_joint_control_tool.so, whose file format is elf64-little as:
- target_link_libraries(unitree_legged_control ${catkin_LIBRARIES} unitree_joint_control_tool)
+ target_link_libraries(unitree_legged_control ${catkin_LIBRARIES} unitree_joint_control_tool_arm64)
You may get errors saying eeForce does not exist when compiling unitree_ros/unitree_controller/src/servo.cpp.
In that case, comment out the lines including "eeForce" since it is obsolete for unitree_ros_msgs. (02.06.2022)