Unitree ROS2 Control

This package contains the hardware interface based on unitree_sdk2 to control the Unitree robot in Mujoco simulator or real Unitree Robots supported by sdk2.

For quadruped robot simulation, please use mujoco simulation in unitree_mujoco. In this simulation, I add foot force sensor support.

1. Interfaces

• command:
  • joint position
  • joint velocity
  • joint effort
  • KP
  • KD
• state:
  • joint effort
  • joint position
  • joint velocity
  • imu sensor
    • linear acceleration
    • angular velocity
    • orientation
  • foot force sensor

2. Build

Tested environment:

• Ubuntu 24.04 ROS2 Jazzy

cd ~/ros2_ws
colcon build --packages-up-to unitree_ros2_control --symlink-install

3. Deploy

Since the real unitree robot has different network and domain name, you need to set the network and domain name in the xacro file. Complete ROS2-Control xacro could be found at Unitree G1 Description.

<hardware>
    <plugin>hardware_unitree_sdk2/HardwareUnitree</plugin>
    <param name="domain">1</param>
    <param name="network_interface">lo</param>
</hardware>

• Unitree Mujoco

  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_arm_controller demo.launch.py robot:=unitree_g1 hardware:=unitree_sim

• Real Unitree G1

  source ~/ros2_ws/install/setup.bash
  ros2 launch ocs2_arm_controller demo.launch.py robot:=unitree_g1 type:=revo2 hardware:=unitree_real

unitree.ros2.control.mp4