Unitree Go 1 EDU doc--control with legged SDK and ROS

Content

1. Go1 preparation
2. Unitree legged sdk build and installation
3. Unitree ROS package build
4. UnitreeCameraSDK build

Go1 safety preparation for low-level control testing

Before connecting to PC, there are several setup steps to connect Go1 to the bracket with the wired connection:

1. Power on Go1 by pressing the battery button once shortly, and once long (3 seconds)
2. Suspend Go1 by pressing
   • L2+A
   • L2+A
   • L2+B
   • L1+L2+start (now Go1 should be suspended)
3. connect Go1 with the wired connection go1 suspended and tied to the rack through wire

Legged SDK build and installation

Dependencies:

sudo apt update
sudo apt install liblcm-dev libmsgpack*

Go to Unitree legged sdk github repo https://github.com/unitreerobotics/unitree_legged_sdk/tree/go1, git clone the repo with branch go1

git clone -b go1 https://github.com/unitreerobotics/unitree_legged_sdk.git

Remote connection

Enable a host computer to communicate with Go1 using internet connection.

First, make sure the host computer and Go1 connect to the same WiFi.

Next, check the IP addresses of the host computer and Go1 using

ifconfig

For example, the IP address of the host computer would be 192.168.1.23, and the IP address of Go1 would be 192.168.1.221.

Then in Go1’s terminal, add the IP address of the host computer as a static route to the routing table of Go1’s Linux kernel using the following command:

sudo ip route add 192.168.1.23 dev wlan0

Finally, check the connection by pinging their IP addresses. For example, to check connection from host computer to Go1, in the host computer’s terminal:

ping 192.168.1.221

After these setup, we can happily use VScode’s remote SSH function to enable connection from host to Go1.

Unitree Camera SDK

Dependencies:

sudo apt update
sudo apt install libudev-dev xorg openbox freeglut3-dev

installation follow https://github.com/unitreerobotics/UnitreecameraSDK

useful links

• UnitreeRobotics docs https://unitree-docs.readthedocs.io/en/latest/get_started/Go1_Edu.html
• Unitree ros-to-real package https://github.com/unitreerobotics/unitree_ros_to_real/tree/master