ROS2与Unitree机器人集成指南
Tested systems and ROS2 distro
| systems | ROS2 distro |
|---|---|
| Ubuntu 20.04 | foxy |
| Ubuntu 22.04 | humble |
src目录上级才可以colcon build
git clone https://github.com/unitreerobotics/unitree_ros2
Install Unitree ROS2 package
1. Dependencies
sudo apt install ros-humble-rmw-cyclonedds-cpp sudo apt install ros-humble-rosidl-generator-dds-idl
2. Compile cyclone dds
The cyclonedds version of Unitree robot is 0.10.2. To communicate with Unitree robots using ROS2, it is necessary to change the dds implementation. See：About different ROS 2 DDS/RTPS vendors — ROS 2 Documentation: Foxy docu