ROS Index
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
Additional Links
Maintainers
- biao
Authors
Hardware Unitree SDK2
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.
Please use mujoco simulation in unitree_mujoco. In this simulation, I add foot force sensor support.
*[x] [2025-01-16] Add odometer states for simulation.
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
- foot force sensor
2. Build
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
- Ubuntu 22.04
- ROS2 Humble
Build Command:
cd ~/ros2_ws
colcon build --packages-up-to hardware_unitree_sdk2 --symlink-install
3. Config network and domain
Since the real unitree robot has different network and domain name, you need to set the network and domain name in the xacro file.
<hardware>
<plugin>hardware_unitree_sdk2/HardwareUnitree</plugin>
<param name="domain">1</param>
<param name="network_interface">lo</param>
</hardware>
After modified the config, you can tried to visualize the robot info from real robot by following command:
source ~/ros2_ws/install/setup.bash
ros2 launch hardware_unitree_sdk2 visualize.launch.py
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged hardware_unitree_sdk2 at Robotics Stack Exchange
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
Additional Links
Maintainers
- biao
Authors
Hardware Unitree SDK2
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.
Please use mujoco simulation in unitree_mujoco. In this simulation, I add foot force sensor support.
*[x] [2025-01-16] Add odometer states for simulation.
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
- foot force sensor
2. Build
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
- Ubuntu 22.04
- ROS2 Humble
Build Command:
cd ~/ros2_ws
colcon build --packages-up-to hardware_unitree_sdk2 --symlink-install
3. Config network and domain
Since the real unitree robot has different network and domain name, you need to set the network and domain name in the xacro file.
<hardware>
<plugin>hardware_unitree_sdk2/HardwareUnitree</plugin>
<param name="domain">1</param>
<param name="network_interface">lo</param>
</hardware>
After modified the config, you can tried to visualize the robot info from real robot by following command:
source ~/ros2_ws/install/setup.bash
ros2 launch hardware_unitree_sdk2 visualize.launch.py
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged hardware_unitree_sdk2 at Robotics Stack Exchange
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
Additional Links
Maintainers
- biao
Authors
Hardware Unitree SDK2
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.
Please use mujoco simulation in unitree_mujoco. In this simulation, I add foot force sensor support.
*[x] [2025-01-16] Add odometer states for simulation.
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
- foot force sensor
2. Build
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
- Ubuntu 22.04
- ROS2 Humble
Build Command:
cd ~/ros2_ws
colcon build --packages-up-to hardware_unitree_sdk2 --symlink-install
3. Config network and domain
Since the real unitree robot has different network and domain name, you need to set the network and domain name in the xacro file.
<hardware>
<plugin>hardware_unitree_sdk2/HardwareUnitree</plugin>
<param name="domain">1</param>
<param name="network_interface">lo</param>
</hardware>
After modified the config, you can tried to visualize the robot info from real robot by following command:
source ~/ros2_ws/install/setup.bash
ros2 launch hardware_unitree_sdk2 visualize.launch.py
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged hardware_unitree_sdk2 at Robotics Stack Exchange
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
Additional Links
Maintainers
- biao
Authors
Hardware Unitree SDK2
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.
Please use mujoco simulation in unitree_mujoco. In this simulation, I add foot force sensor support.
*[x] [2025-01-16] Add odometer states for simulation.
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
- foot force sensor
2. Build
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
- Ubuntu 22.04
- ROS2 Humble
Build Command:
cd ~/ros2_ws
colcon build --packages-up-to hardware_unitree_sdk2 --symlink-install
3. Config network and domain
Since the real unitree robot has different network and domain name, you need to set the network and domain name in the xacro file.
<hardware>
<plugin>hardware_unitree_sdk2/HardwareUnitree</plugin>
<param name="domain">1</param>
<param name="network_interface">lo</param>
</hardware>
After modified the config, you can tried to visualize the robot info from real robot by following command:
source ~/ros2_ws/install/setup.bash
ros2 launch hardware_unitree_sdk2 visualize.launch.py
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged hardware_unitree_sdk2 at Robotics Stack Exchange
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
Additional Links
Maintainers
- biao
Authors
Hardware Unitree SDK2
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.
Please use mujoco simulation in unitree_mujoco. In this simulation, I add foot force sensor support.
*[x] [2025-01-16] Add odometer states for simulation.
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
- foot force sensor
2. Build
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
- Ubuntu 22.04
- ROS2 Humble
Build Command:
cd ~/ros2_ws
colcon build --packages-up-to hardware_unitree_sdk2 --symlink-install
3. Config network and domain
Since the real unitree robot has different network and domain name, you need to set the network and domain name in the xacro file.
<hardware>
<plugin>hardware_unitree_sdk2/HardwareUnitree</plugin>
<param name="domain">1</param>
<param name="network_interface">lo</param>
</hardware>
After modified the config, you can tried to visualize the robot info from real robot by following command:
source ~/ros2_ws/install/setup.bash
ros2 launch hardware_unitree_sdk2 visualize.launch.py
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged hardware_unitree_sdk2 at Robotics Stack Exchange
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
Additional Links
Maintainers
- biao
Authors
Hardware Unitree SDK2
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.
Please use mujoco simulation in unitree_mujoco. In this simulation, I add foot force sensor support.
*[x] [2025-01-16] Add odometer states for simulation.
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
- foot force sensor
2. Build
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
- Ubuntu 22.04
- ROS2 Humble
Build Command:
cd ~/ros2_ws
colcon build --packages-up-to hardware_unitree_sdk2 --symlink-install
3. Config network and domain
Since the real unitree robot has different network and domain name, you need to set the network and domain name in the xacro file.
<hardware>
<plugin>hardware_unitree_sdk2/HardwareUnitree</plugin>
<param name="domain">1</param>
<param name="network_interface">lo</param>
</hardware>
After modified the config, you can tried to visualize the robot info from real robot by following command:
source ~/ros2_ws/install/setup.bash
ros2 launch hardware_unitree_sdk2 visualize.launch.py
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged hardware_unitree_sdk2 at Robotics Stack Exchange
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
Additional Links
Maintainers
- biao
Authors
Hardware Unitree SDK2
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.
Please use mujoco simulation in unitree_mujoco. In this simulation, I add foot force sensor support.
*[x] [2025-01-16] Add odometer states for simulation.
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
- foot force sensor
2. Build
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
- Ubuntu 22.04
- ROS2 Humble
Build Command:
cd ~/ros2_ws
colcon build --packages-up-to hardware_unitree_sdk2 --symlink-install
3. Config network and domain
Since the real unitree robot has different network and domain name, you need to set the network and domain name in the xacro file.
<hardware>
<plugin>hardware_unitree_sdk2/HardwareUnitree</plugin>
<param name="domain">1</param>
<param name="network_interface">lo</param>
</hardware>
After modified the config, you can tried to visualize the robot info from real robot by following command:
source ~/ros2_ws/install/setup.bash
ros2 launch hardware_unitree_sdk2 visualize.launch.py
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged hardware_unitree_sdk2 at Robotics Stack Exchange
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
Additional Links
Maintainers
- biao
Authors
Hardware Unitree SDK2
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.
Please use mujoco simulation in unitree_mujoco. In this simulation, I add foot force sensor support.
*[x] [2025-01-16] Add odometer states for simulation.
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
- foot force sensor
2. Build
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
- Ubuntu 22.04
- ROS2 Humble
Build Command:
cd ~/ros2_ws
colcon build --packages-up-to hardware_unitree_sdk2 --symlink-install
3. Config network and domain
Since the real unitree robot has different network and domain name, you need to set the network and domain name in the xacro file.
<hardware>
<plugin>hardware_unitree_sdk2/HardwareUnitree</plugin>
<param name="domain">1</param>
<param name="network_interface">lo</param>
</hardware>
After modified the config, you can tried to visualize the robot info from real robot by following command:
source ~/ros2_ws/install/setup.bash
ros2 launch hardware_unitree_sdk2 visualize.launch.py
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged hardware_unitree_sdk2 at Robotics Stack Exchange
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
Additional Links
Maintainers
- biao
Authors
Hardware Unitree SDK2
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.
Please use mujoco simulation in unitree_mujoco. In this simulation, I add foot force sensor support.
*[x] [2025-01-16] Add odometer states for simulation.
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
- foot force sensor
2. Build
Tested environment:
- Ubuntu 24.04
- ROS2 Jazzy
- Ubuntu 22.04
- ROS2 Humble
Build Command:
cd ~/ros2_ws
colcon build --packages-up-to hardware_unitree_sdk2 --symlink-install
3. Config network and domain
Since the real unitree robot has different network and domain name, you need to set the network and domain name in the xacro file.
<hardware>
<plugin>hardware_unitree_sdk2/HardwareUnitree</plugin>
<param name="domain">1</param>
<param name="network_interface">lo</param>
</hardware>
After modified the config, you can tried to visualize the robot info from real robot by following command:
source ~/ros2_ws/install/setup.bash
ros2 launch hardware_unitree_sdk2 visualize.launch.py