humble jazzy kilted rolling github

No version for distro humble showing github. Known supported distros are highlighted in the buttons above.

Package symbol

unitree_guide_controller package from quadruped_ros2_control repo

control_input_msgs joystick_input keyboard_input unitree_joystick_input leg_pd_controller ocs2_quadruped_controller rl_quadruped_controller unitree_guide_controller anymal_c_description lite3_description x30_description cyberdog_description magicdog_description a1_description aliengo_description b2_description go1_description go2_description gz_quadruped_hardware hardware_unitree_sdk2 controller_common gz_quadruped_playground qpoases_colcon

ROS Distro
github

API Docs
Browse Code

Package Summary

Version	0.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2-Control implementations for Quadruped robots, include sim2real
Checkout URI	https://github.com/legubiao/quadruped_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A Ros2 Control Controller based on Unitree Guide

Maintainers

Huang Zhenbiao

Authors

No additional authors.

controllers/unitree_guide_controller/README.md

Unitree Guide Controller

This is a ros2-control controller based on unitree guide. The original unitree guide project could be found here. I used KDL for the kinematic and dynamic calculation, so the controller performance has difference with the original one (sometimes very unstable).

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy
Ubuntu 22.04
- ROS2 Humble

1. Interfaces

Required hardware interfaces:

command:
- joint position
- joint velocity
- joint effort
- KP
- KD
state:
- joint effort
- joint position
- joint velocity
- imu sensor
  - linear acceleration
  - angular velocity
  - orientation

2. Build

cd ~/ros2_ws
colcon build --packages-up-to unitree_guide_controller

3. Launch

3.1 Mujoco Simulation

Warm Reminder: You need to launch Unitree Mujoco C++ Simulation before launch the controller.

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go2_description

3.2 Gazebo Harmonic

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=go2_description

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	controller_manager
	joint_state_broadcaster
	ament_lint_auto
	ament_lint_common
	backward_ros
	controller_interface
	controller_common
	pluginlib
	control_input_msgs
	kdl_parser

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `unitree_guide_controller` at Robotics Stack Exchange

API Docs Browse Code

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

Package symbol

unitree_guide_controller package from quadruped_ros2_control repo

control_input_msgs joystick_input keyboard_input unitree_joystick_input leg_pd_controller ocs2_quadruped_controller rl_quadruped_controller unitree_guide_controller anymal_c_description lite3_description x30_description cyberdog_description magicdog_description a1_description aliengo_description b2_description go1_description go2_description gz_quadruped_hardware hardware_unitree_sdk2 controller_common gz_quadruped_playground qpoases_colcon

ROS Distro
github

API Docs
Browse Code

Package Summary

Version	0.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2-Control implementations for Quadruped robots, include sim2real
Checkout URI	https://github.com/legubiao/quadruped_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A Ros2 Control Controller based on Unitree Guide

Maintainers

Huang Zhenbiao

Authors

No additional authors.

controllers/unitree_guide_controller/README.md

Unitree Guide Controller

This is a ros2-control controller based on unitree guide. The original unitree guide project could be found here. I used KDL for the kinematic and dynamic calculation, so the controller performance has difference with the original one (sometimes very unstable).

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy
Ubuntu 22.04
- ROS2 Humble

1. Interfaces

Required hardware interfaces:

command:
- joint position
- joint velocity
- joint effort
- KP
- KD
state:
- joint effort
- joint position
- joint velocity
- imu sensor
  - linear acceleration
  - angular velocity
  - orientation

2. Build

cd ~/ros2_ws
colcon build --packages-up-to unitree_guide_controller

3. Launch

3.1 Mujoco Simulation

Warm Reminder: You need to launch Unitree Mujoco C++ Simulation before launch the controller.

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go2_description

3.2 Gazebo Harmonic

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=go2_description

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	controller_manager
	joint_state_broadcaster
	ament_lint_auto
	ament_lint_common
	backward_ros
	controller_interface
	controller_common
	pluginlib
	control_input_msgs
	kdl_parser

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `unitree_guide_controller` at Robotics Stack Exchange

API Docs Browse Code

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

Package symbol

unitree_guide_controller package from quadruped_ros2_control repo

control_input_msgs joystick_input keyboard_input unitree_joystick_input leg_pd_controller ocs2_quadruped_controller rl_quadruped_controller unitree_guide_controller anymal_c_description lite3_description x30_description cyberdog_description magicdog_description a1_description aliengo_description b2_description go1_description go2_description gz_quadruped_hardware hardware_unitree_sdk2 controller_common gz_quadruped_playground qpoases_colcon

ROS Distro
github

API Docs
Browse Code

Package Summary

Version	0.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2-Control implementations for Quadruped robots, include sim2real
Checkout URI	https://github.com/legubiao/quadruped_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A Ros2 Control Controller based on Unitree Guide

Maintainers

Huang Zhenbiao

Authors

No additional authors.

controllers/unitree_guide_controller/README.md

Unitree Guide Controller

This is a ros2-control controller based on unitree guide. The original unitree guide project could be found here. I used KDL for the kinematic and dynamic calculation, so the controller performance has difference with the original one (sometimes very unstable).

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy
Ubuntu 22.04
- ROS2 Humble

1. Interfaces

Required hardware interfaces:

command:
- joint position
- joint velocity
- joint effort
- KP
- KD
state:
- joint effort
- joint position
- joint velocity
- imu sensor
  - linear acceleration
  - angular velocity
  - orientation

2. Build

cd ~/ros2_ws
colcon build --packages-up-to unitree_guide_controller

3. Launch

3.1 Mujoco Simulation

Warm Reminder: You need to launch Unitree Mujoco C++ Simulation before launch the controller.

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go2_description

3.2 Gazebo Harmonic

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=go2_description

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	controller_manager
	joint_state_broadcaster
	ament_lint_auto
	ament_lint_common
	backward_ros
	controller_interface
	controller_common
	pluginlib
	control_input_msgs
	kdl_parser

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `unitree_guide_controller` at Robotics Stack Exchange

API Docs Browse Code

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

Package symbol

unitree_guide_controller package from quadruped_ros2_control repo

control_input_msgs joystick_input keyboard_input unitree_joystick_input leg_pd_controller ocs2_quadruped_controller rl_quadruped_controller unitree_guide_controller anymal_c_description lite3_description x30_description cyberdog_description magicdog_description a1_description aliengo_description b2_description go1_description go2_description gz_quadruped_hardware hardware_unitree_sdk2 controller_common gz_quadruped_playground qpoases_colcon

ROS Distro
github

API Docs
Browse Code

Package Summary

Version	0.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2-Control implementations for Quadruped robots, include sim2real
Checkout URI	https://github.com/legubiao/quadruped_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A Ros2 Control Controller based on Unitree Guide

Maintainers

Huang Zhenbiao

Authors

No additional authors.

controllers/unitree_guide_controller/README.md

Unitree Guide Controller

This is a ros2-control controller based on unitree guide. The original unitree guide project could be found here. I used KDL for the kinematic and dynamic calculation, so the controller performance has difference with the original one (sometimes very unstable).

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy
Ubuntu 22.04
- ROS2 Humble

1. Interfaces

Required hardware interfaces:

command:
- joint position
- joint velocity
- joint effort
- KP
- KD
state:
- joint effort
- joint position
- joint velocity
- imu sensor
  - linear acceleration
  - angular velocity
  - orientation

2. Build

cd ~/ros2_ws
colcon build --packages-up-to unitree_guide_controller

3. Launch

3.1 Mujoco Simulation

Warm Reminder: You need to launch Unitree Mujoco C++ Simulation before launch the controller.

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go2_description

3.2 Gazebo Harmonic

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=go2_description

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	controller_manager
	joint_state_broadcaster
	ament_lint_auto
	ament_lint_common
	backward_ros
	controller_interface
	controller_common
	pluginlib
	control_input_msgs
	kdl_parser

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `unitree_guide_controller` at Robotics Stack Exchange

API Docs Browse Code

Package symbol

unitree_guide_controller package from quadruped_ros2_control repo

control_input_msgs joystick_input keyboard_input unitree_joystick_input leg_pd_controller ocs2_quadruped_controller rl_quadruped_controller unitree_guide_controller anymal_c_description lite3_description x30_description cyberdog_description magicdog_description a1_description aliengo_description b2_description go1_description go2_description gz_quadruped_hardware hardware_unitree_sdk2 controller_common gz_quadruped_playground qpoases_colcon

ROS Distro
github

API Docs
Browse Code

Package Summary

Version	0.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2-Control implementations for Quadruped robots, include sim2real
Checkout URI	https://github.com/legubiao/quadruped_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A Ros2 Control Controller based on Unitree Guide

Maintainers

Huang Zhenbiao

Authors

No additional authors.

controllers/unitree_guide_controller/README.md

Unitree Guide Controller

This is a ros2-control controller based on unitree guide. The original unitree guide project could be found here. I used KDL for the kinematic and dynamic calculation, so the controller performance has difference with the original one (sometimes very unstable).

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy
Ubuntu 22.04
- ROS2 Humble

1. Interfaces

Required hardware interfaces:

command:
- joint position
- joint velocity
- joint effort
- KP
- KD
state:
- joint effort
- joint position
- joint velocity
- imu sensor
  - linear acceleration
  - angular velocity
  - orientation

2. Build

cd ~/ros2_ws
colcon build --packages-up-to unitree_guide_controller

3. Launch

3.1 Mujoco Simulation

Warm Reminder: You need to launch Unitree Mujoco C++ Simulation before launch the controller.

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go2_description

3.2 Gazebo Harmonic

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=go2_description

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	controller_manager
	joint_state_broadcaster
	ament_lint_auto
	ament_lint_common
	backward_ros
	controller_interface
	controller_common
	pluginlib
	control_input_msgs
	kdl_parser

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `unitree_guide_controller` at Robotics Stack Exchange

API Docs Browse Code

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

Package symbol

unitree_guide_controller package from quadruped_ros2_control repo

control_input_msgs joystick_input keyboard_input unitree_joystick_input leg_pd_controller ocs2_quadruped_controller rl_quadruped_controller unitree_guide_controller anymal_c_description lite3_description x30_description cyberdog_description magicdog_description a1_description aliengo_description b2_description go1_description go2_description gz_quadruped_hardware hardware_unitree_sdk2 controller_common gz_quadruped_playground qpoases_colcon

ROS Distro
github

API Docs
Browse Code

Package Summary

Version	0.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2-Control implementations for Quadruped robots, include sim2real
Checkout URI	https://github.com/legubiao/quadruped_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A Ros2 Control Controller based on Unitree Guide

Maintainers

Huang Zhenbiao

Authors

No additional authors.

controllers/unitree_guide_controller/README.md

Unitree Guide Controller

This is a ros2-control controller based on unitree guide. The original unitree guide project could be found here. I used KDL for the kinematic and dynamic calculation, so the controller performance has difference with the original one (sometimes very unstable).

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy
Ubuntu 22.04
- ROS2 Humble

1. Interfaces

Required hardware interfaces:

command:
- joint position
- joint velocity
- joint effort
- KP
- KD
state:
- joint effort
- joint position
- joint velocity
- imu sensor
  - linear acceleration
  - angular velocity
  - orientation

2. Build

cd ~/ros2_ws
colcon build --packages-up-to unitree_guide_controller

3. Launch

3.1 Mujoco Simulation

Warm Reminder: You need to launch Unitree Mujoco C++ Simulation before launch the controller.

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go2_description

3.2 Gazebo Harmonic

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=go2_description

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	controller_manager
	joint_state_broadcaster
	ament_lint_auto
	ament_lint_common
	backward_ros
	controller_interface
	controller_common
	pluginlib
	control_input_msgs
	kdl_parser

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `unitree_guide_controller` at Robotics Stack Exchange

API Docs Browse Code

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

Package symbol

unitree_guide_controller package from quadruped_ros2_control repo

control_input_msgs joystick_input keyboard_input unitree_joystick_input leg_pd_controller ocs2_quadruped_controller rl_quadruped_controller unitree_guide_controller anymal_c_description lite3_description x30_description cyberdog_description magicdog_description a1_description aliengo_description b2_description go1_description go2_description gz_quadruped_hardware hardware_unitree_sdk2 controller_common gz_quadruped_playground qpoases_colcon

ROS Distro
github

API Docs
Browse Code

Package Summary

Version	0.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2-Control implementations for Quadruped robots, include sim2real
Checkout URI	https://github.com/legubiao/quadruped_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A Ros2 Control Controller based on Unitree Guide

Maintainers

Huang Zhenbiao

Authors

No additional authors.

controllers/unitree_guide_controller/README.md

Unitree Guide Controller

This is a ros2-control controller based on unitree guide. The original unitree guide project could be found here. I used KDL for the kinematic and dynamic calculation, so the controller performance has difference with the original one (sometimes very unstable).

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy
Ubuntu 22.04
- ROS2 Humble

1. Interfaces

Required hardware interfaces:

command:
- joint position
- joint velocity
- joint effort
- KP
- KD
state:
- joint effort
- joint position
- joint velocity
- imu sensor
  - linear acceleration
  - angular velocity
  - orientation

2. Build

cd ~/ros2_ws
colcon build --packages-up-to unitree_guide_controller

3. Launch

3.1 Mujoco Simulation

Warm Reminder: You need to launch Unitree Mujoco C++ Simulation before launch the controller.

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go2_description

3.2 Gazebo Harmonic

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=go2_description

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	controller_manager
	joint_state_broadcaster
	ament_lint_auto
	ament_lint_common
	backward_ros
	controller_interface
	controller_common
	pluginlib
	control_input_msgs
	kdl_parser

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `unitree_guide_controller` at Robotics Stack Exchange

API Docs Browse Code

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

Package symbol

unitree_guide_controller package from quadruped_ros2_control repo

control_input_msgs joystick_input keyboard_input unitree_joystick_input leg_pd_controller ocs2_quadruped_controller rl_quadruped_controller unitree_guide_controller anymal_c_description lite3_description x30_description cyberdog_description magicdog_description a1_description aliengo_description b2_description go1_description go2_description gz_quadruped_hardware hardware_unitree_sdk2 controller_common gz_quadruped_playground qpoases_colcon

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version	0.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2-Control implementations for Quadruped robots, include sim2real
Checkout URI	https://github.com/legubiao/quadruped_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A Ros2 Control Controller based on Unitree Guide

Maintainers

Huang Zhenbiao

Authors

No additional authors.

controllers/unitree_guide_controller/README.md

Unitree Guide Controller

This is a ros2-control controller based on unitree guide. The original unitree guide project could be found here. I used KDL for the kinematic and dynamic calculation, so the controller performance has difference with the original one (sometimes very unstable).

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy
Ubuntu 22.04
- ROS2 Humble

1. Interfaces

Required hardware interfaces:

command:
- joint position
- joint velocity
- joint effort
- KP
- KD
state:
- joint effort
- joint position
- joint velocity
- imu sensor
  - linear acceleration
  - angular velocity
  - orientation

2. Build

cd ~/ros2_ws
colcon build --packages-up-to unitree_guide_controller

3. Launch

3.1 Mujoco Simulation

Warm Reminder: You need to launch Unitree Mujoco C++ Simulation before launch the controller.

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go2_description

3.2 Gazebo Harmonic

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=go2_description

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	controller_manager
	joint_state_broadcaster
	ament_lint_auto
	ament_lint_common
	backward_ros
	controller_interface
	controller_common
	pluginlib
	control_input_msgs
	kdl_parser

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `unitree_guide_controller` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.

Package symbol

unitree_guide_controller package from quadruped_ros2_control repo

control_input_msgs joystick_input keyboard_input unitree_joystick_input leg_pd_controller ocs2_quadruped_controller rl_quadruped_controller unitree_guide_controller anymal_c_description lite3_description x30_description cyberdog_description magicdog_description a1_description aliengo_description b2_description go1_description go2_description gz_quadruped_hardware hardware_unitree_sdk2 controller_common gz_quadruped_playground qpoases_colcon

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version	0.0.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2-Control implementations for Quadruped robots, include sim2real
Checkout URI	https://github.com/legubiao/quadruped_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A Ros2 Control Controller based on Unitree Guide

Maintainers

Huang Zhenbiao

Authors

No additional authors.

controllers/unitree_guide_controller/README.md

Unitree Guide Controller

This is a ros2-control controller based on unitree guide. The original unitree guide project could be found here. I used KDL for the kinematic and dynamic calculation, so the controller performance has difference with the original one (sometimes very unstable).

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy
Ubuntu 22.04
- ROS2 Humble

1. Interfaces

Required hardware interfaces:

command:
- joint position
- joint velocity
- joint effort
- KP
- KD
state:
- joint effort
- joint position
- joint velocity
- imu sensor
  - linear acceleration
  - angular velocity
  - orientation

2. Build

cd ~/ros2_ws
colcon build --packages-up-to unitree_guide_controller

3. Launch

3.1 Mujoco Simulation

Warm Reminder: You need to launch Unitree Mujoco C++ Simulation before launch the controller.

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go2_description

3.2 Gazebo Harmonic

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=go2_description

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	controller_manager
	joint_state_broadcaster
	ament_lint_auto
	ament_lint_common
	backward_ros
	controller_interface
	controller_common
	pluginlib
	control_input_msgs
	kdl_parser

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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