Unitree Joystick Input Node

Package Summary

Tags	No category tags.
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
Tags	rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package to convert joystick signal to control input

Additional Links

No additional links.

Maintainers

Huang Zhenbiao

Authors

No additional authors.

Unitree Joystick Input Node

This node will listen to the wireless remote topic and publish a unitree_go::msg::dds_::WirelessController_ message by using unitree_sdk2.

Before use this node, please use ifconfig command to check the network interface to connect to the robot, then change the parameter in launch file.

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy

Build Command

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

Launch Command

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_joystick_input joystick.launch.py

1. Use Instructions for Controllers

1.1 Unitree Guide Controller

Passive Mode: select
Fixed Down: start
Fixed Stand: start
- Free Stand: right + X
- Trot: right + Y
- SwingTest: right + B
- Balance: right + A

1.2 OCS2 Quadruped Controller

Passive Mode: select
OCS2 Mode: start
- Stance: start
- trot: right + X
- standing trot: right + Y
- flying_trot: right + B

1.3 RL Quadruped Controller

Passive Mode: select
Fixed Down: start
Fixed Stand: start
- RL Mode: right + X

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	sensor_msgs
	control_input_msgs

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_joystick_input` at Robotics Stack Exchange

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

unitree_joystick_input 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

Package Summary

Tags	No category tags.
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
Tags	rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package to convert joystick signal to control input

Additional Links

No additional links.

Maintainers

Huang Zhenbiao

Authors

No additional authors.

Unitree Joystick Input Node

This node will listen to the wireless remote topic and publish a unitree_go::msg::dds_::WirelessController_ message by using unitree_sdk2.

Before use this node, please use ifconfig command to check the network interface to connect to the robot, then change the parameter in launch file.

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy

Build Command

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

Launch Command

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_joystick_input joystick.launch.py

1. Use Instructions for Controllers

1.1 Unitree Guide Controller

Passive Mode: select
Fixed Down: start
Fixed Stand: start
- Free Stand: right + X
- Trot: right + Y
- SwingTest: right + B
- Balance: right + A

1.2 OCS2 Quadruped Controller

Passive Mode: select
OCS2 Mode: start
- Stance: start
- trot: right + X
- standing trot: right + Y
- flying_trot: right + B

1.3 RL Quadruped Controller

Passive Mode: select
Fixed Down: start
Fixed Stand: start
- RL Mode: right + X

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	sensor_msgs
	control_input_msgs

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_joystick_input` at Robotics Stack Exchange

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

unitree_joystick_input 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

Package Summary

Tags	No category tags.
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
Tags	rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package to convert joystick signal to control input

Additional Links

No additional links.

Maintainers

Huang Zhenbiao

Authors

No additional authors.

Unitree Joystick Input Node

This node will listen to the wireless remote topic and publish a unitree_go::msg::dds_::WirelessController_ message by using unitree_sdk2.

Before use this node, please use ifconfig command to check the network interface to connect to the robot, then change the parameter in launch file.

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy

Build Command

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

Launch Command

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_joystick_input joystick.launch.py

1. Use Instructions for Controllers

1.1 Unitree Guide Controller

Passive Mode: select
Fixed Down: start
Fixed Stand: start
- Free Stand: right + X
- Trot: right + Y
- SwingTest: right + B
- Balance: right + A

1.2 OCS2 Quadruped Controller

Passive Mode: select
OCS2 Mode: start
- Stance: start
- trot: right + X
- standing trot: right + Y
- flying_trot: right + B

1.3 RL Quadruped Controller

Passive Mode: select
Fixed Down: start
Fixed Stand: start
- RL Mode: right + X

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	sensor_msgs
	control_input_msgs

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_joystick_input` at Robotics Stack Exchange

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

unitree_joystick_input 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

Package Summary

Tags	No category tags.
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
Tags	rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package to convert joystick signal to control input

Additional Links

No additional links.

Maintainers

Huang Zhenbiao

Authors

No additional authors.

Unitree Joystick Input Node

This node will listen to the wireless remote topic and publish a unitree_go::msg::dds_::WirelessController_ message by using unitree_sdk2.

Before use this node, please use ifconfig command to check the network interface to connect to the robot, then change the parameter in launch file.

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy

Build Command

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

Launch Command

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_joystick_input joystick.launch.py

1. Use Instructions for Controllers

1.1 Unitree Guide Controller

Passive Mode: select
Fixed Down: start
Fixed Stand: start
- Free Stand: right + X
- Trot: right + Y
- SwingTest: right + B
- Balance: right + A

1.2 OCS2 Quadruped Controller

Passive Mode: select
OCS2 Mode: start
- Stance: start
- trot: right + X
- standing trot: right + Y
- flying_trot: right + B

1.3 RL Quadruped Controller

Passive Mode: select
Fixed Down: start
Fixed Stand: start
- RL Mode: right + X

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	sensor_msgs
	control_input_msgs

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_joystick_input` at Robotics Stack Exchange

unitree_joystick_input 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

Package Summary

Tags	No category tags.
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
Tags	rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package to convert joystick signal to control input

Additional Links

No additional links.

Maintainers

Huang Zhenbiao

Authors

No additional authors.

Unitree Joystick Input Node

This node will listen to the wireless remote topic and publish a unitree_go::msg::dds_::WirelessController_ message by using unitree_sdk2.

Before use this node, please use ifconfig command to check the network interface to connect to the robot, then change the parameter in launch file.

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy

Build Command

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

Launch Command

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_joystick_input joystick.launch.py

1. Use Instructions for Controllers

1.1 Unitree Guide Controller

Passive Mode: select
Fixed Down: start
Fixed Stand: start
- Free Stand: right + X
- Trot: right + Y
- SwingTest: right + B
- Balance: right + A

1.2 OCS2 Quadruped Controller

Passive Mode: select
OCS2 Mode: start
- Stance: start
- trot: right + X
- standing trot: right + Y
- flying_trot: right + B

1.3 RL Quadruped Controller

Passive Mode: select
Fixed Down: start
Fixed Stand: start
- RL Mode: right + X

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	sensor_msgs
	control_input_msgs

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_joystick_input` at Robotics Stack Exchange

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

unitree_joystick_input 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

Package Summary

Tags	No category tags.
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
Tags	rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package to convert joystick signal to control input

Additional Links

No additional links.

Maintainers

Huang Zhenbiao

Authors

No additional authors.

Unitree Joystick Input Node

This node will listen to the wireless remote topic and publish a unitree_go::msg::dds_::WirelessController_ message by using unitree_sdk2.

Before use this node, please use ifconfig command to check the network interface to connect to the robot, then change the parameter in launch file.

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy

Build Command

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

Launch Command

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_joystick_input joystick.launch.py

1. Use Instructions for Controllers

1.1 Unitree Guide Controller

Passive Mode: select
Fixed Down: start
Fixed Stand: start
- Free Stand: right + X
- Trot: right + Y
- SwingTest: right + B
- Balance: right + A

1.2 OCS2 Quadruped Controller

Passive Mode: select
OCS2 Mode: start
- Stance: start
- trot: right + X
- standing trot: right + Y
- flying_trot: right + B

1.3 RL Quadruped Controller

Passive Mode: select
Fixed Down: start
Fixed Stand: start
- RL Mode: right + X

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	sensor_msgs
	control_input_msgs

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_joystick_input` at Robotics Stack Exchange

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

unitree_joystick_input 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

Package Summary

Tags	No category tags.
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
Tags	rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package to convert joystick signal to control input

Additional Links

No additional links.

Maintainers

Huang Zhenbiao

Authors

No additional authors.

Unitree Joystick Input Node

This node will listen to the wireless remote topic and publish a unitree_go::msg::dds_::WirelessController_ message by using unitree_sdk2.

Before use this node, please use ifconfig command to check the network interface to connect to the robot, then change the parameter in launch file.

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy

Build Command

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

Launch Command

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_joystick_input joystick.launch.py

1. Use Instructions for Controllers

1.1 Unitree Guide Controller

Passive Mode: select
Fixed Down: start
Fixed Stand: start
- Free Stand: right + X
- Trot: right + Y
- SwingTest: right + B
- Balance: right + A

1.2 OCS2 Quadruped Controller

Passive Mode: select
OCS2 Mode: start
- Stance: start
- trot: right + X
- standing trot: right + Y
- flying_trot: right + B

1.3 RL Quadruped Controller

Passive Mode: select
Fixed Down: start
Fixed Stand: start
- RL Mode: right + X

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	sensor_msgs
	control_input_msgs

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_joystick_input` at Robotics Stack Exchange

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

unitree_joystick_input 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

Tags	No category tags.
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
Tags	rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package to convert joystick signal to control input

Additional Links

No additional links.

Maintainers

Huang Zhenbiao

Authors

No additional authors.

Unitree Joystick Input Node

This node will listen to the wireless remote topic and publish a unitree_go::msg::dds_::WirelessController_ message by using unitree_sdk2.

Before use this node, please use ifconfig command to check the network interface to connect to the robot, then change the parameter in launch file.

Tested environment:

Ubuntu 24.04
- ROS2 Jazzy

Build Command

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

Launch Command

source ~/ros2_ws/install/setup.bash
ros2 launch unitree_joystick_input joystick.launch.py

1. Use Instructions for Controllers

1.1 Unitree Guide Controller

Passive Mode: select
Fixed Down: start
Fixed Stand: start
- Free Stand: right + X
- Trot: right + Y
- SwingTest: right + B
- Balance: right + A

1.2 OCS2 Quadruped Controller

Passive Mode: select
OCS2 Mode: start
- Stance: start
- trot: right + X
- standing trot: right + Y
- flying_trot: right + B

1.3 RL Quadruped Controller

Passive Mode: select
Fixed Down: start
Fixed Stand: start
- RL Mode: right + X

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	sensor_msgs
	control_input_msgs

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_joystick_input` 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.

unitree_joystick_input 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

Tags	No category tags.
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
Tags	rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package to convert joystick signal to control input

Additional Links

No additional links.

Maintainers

Huang Zhenbiao

Authors

No additional authors.