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README_unitree_ros2.md

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Install Unitree ROS2 package

  1. Compile unitree packages packages First, compile unitree stuff:
git submodule update --init --recursive
cd unitree_ros2/cyclonedds_ws
colcon build # Compile all packages in the workspace
source install/setup.bash

If you have any problem complaining rosidl_generate_interfaces (likely), search globally from cmake_minimum_required(VERSION and bump each version to 3.15

Network configuration

  1. Connect Unitree robot and the computer using Ethernet cable. Then, use ifconfig to view the network interface that the robot connected.

Next, open the network settings, find the network interface that the robot connected. In IPv4 setting, change the IPv4 mode to manual, set the address to 192.168.123.99, and set the mask to 255.255.255.0. After completion, click apply and wait for the network to reconnect.

Open setup.sh file.

sudo gedit ros2_connect.bash
#!/bin/bash
.......
export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
                            <NetworkInterface name="enp3s0" priority="default" multicast="default" />
                        </Interfaces></General></Domain></CycloneDDS>'

where "enp3s0" is the network interface name of unitree robot connected. Modify it to the corresponding network interface according to the actual situation. You can check it typing ifconfig.

  1. Ensure that the network of robot is connected correctly, open a terminal and input:
source ros2_connect.bash
ros2 topic list

If you have any problem in seeing, listening the topic, maybe it's the firewall.

The firewall gives us problem!!

sudo ufw disable

or

sudo ufw allow from 192.168.123.18 to any port 7400:65535 proto udp
sudo ufw allow from 192.168.123.161 to any port 7400:65535 proto udp

Running the quadruped hal

The source code of the hal is located at /ros2_ws/src/quadruped_hal.

Open a terminal and input:

source ros2_connect.bash

Note that in every terminal where you launch your other scripts, you need to source this file first. Put it in .bashrc as an alias!

After compilation, run in the terminal:

python3 launch_quadruped_hal.py