From 23e62eafaadec983d8243990173e95cda3f659c0 Mon Sep 17 00:00:00 2001 From: abizovnuralem Date: Fri, 15 Mar 2024 23:27:21 +0500 Subject: [PATCH 1/3] fix readme --- README.md | 57 ++++++++++++++++++++++--------------------------------- 1 file changed, 23 insertions(+), 34 deletions(-) diff --git a/README.md b/README.md index 49ac2d9..3bcaca6 100644 --- a/README.md +++ b/README.md @@ -6,6 +6,22 @@ We are delighted to present you with our integration of the Unitree Go2 ROS2 SDK This resourceful project is here to empower your Unitree GO2 AIR/PRO/EDU robots with ROS2 SDK capabilities. We're thrilled to offer an enhanced level of control and interaction, enabling you to take your robotics projects to new heights. +## Project RoadMap: +1. URDF :white_check_mark: +2. Joint states sync in real time :white_check_mark: +3. IMU sync in real time :white_check_mark: +4. Joystick control in real time :white_check_mark: +6. Go2 topics info in real time :white_check_mark: +7. Foot force sensors info in real time :white_check_mark: +8. Lidar stream (added pointCloud2) :white_check_mark: +9. Camera stream :white_check_mark: +10. Foxglove bridge :white_check_mark: +11. Laser Scan :white_check_mark: +12. SLAM (slam_toolbox) :white_check_mark: +13. Navigation (nav2) :white_check_mark: +14. Object detection +15. AutoPilot + ## Exciting Features: :sparkles: Full ROS2 SDK support for your Unitree GO2 @@ -14,13 +30,6 @@ This resourceful project is here to empower your Unitree GO2 AIR/PRO/EDU robots :footprints: Access to foot force sensors feedback (available on GO2 PRO/EDU) -## Your feedback and support mean the world to us. - -If you're as enthusiastic about this project as we are, please consider giving it a :star: star on our GitHub repository. - -Your encouragement fuels our passion and helps us develop our RoadMap further. We welcome any help or suggestions you can offer! - -Together, let's push the boundaries of what's possible with the Unitree Go2 and ROS2! Real time Go2 Air/PRO/EDU joints sync: @@ -30,7 +39,6 @@ Real time Go2 Air/PRO/EDU joints sync: Go2 Air/PRO/EDU lidar point cloud: -

Go2 point cloud

@@ -39,23 +47,6 @@ Go2 Air/PRO/EDU lidar point cloud: Go2 point cloud

- -## Project RoadMap: -1. URDF :white_check_mark: -2. Joint states sync in real time :white_check_mark: -3. IMU sync in real time :white_check_mark: -4. Joystick control in real time :white_check_mark: -6. Go2 topics info in real time :white_check_mark: -7. Foot force sensors info in real time :white_check_mark: -8. Lidar stream (added pointCloud2) :white_check_mark: -9. Camera stream :white_check_mark: -10. Foxglove bridge :white_check_mark: -11. Laser Scan :white_check_mark: -12. SLAM (slam_toolbox) :white_check_mark: -13. Navigation (nav2) :white_check_mark: -14. Object detection -15. AutoPilot - ## Topic Real time Go2 Air/PRO ROS2 topics @@ -67,7 +58,6 @@ Real time Go2 Air/PRO ROS2 topics Go2 topic list

- ## System requirements Tested systems and ROS2 distro |systems|ROS2 distro|Build status @@ -99,14 +89,10 @@ workspace_folder/ py_package_2/ ``` - install gstreamer in ubuntu ``` - sudo apt-get install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-bad1.0-dev gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-tools gstreamer1.0-x gstreamer1.0-alsa gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 gstreamer1.0-pulseaudio - - ``` you need to manualy compile your opencv-python to support gstreamer (remove current opencv-python version) @@ -117,7 +103,6 @@ sudo apt-get install --quiet -y --no-install-recommends \ gstreamer1.0-opencv \ libgstreamer1.0-0 - # Install minimal prerequisites (Ubuntu 18.04 as reference) sudo apt update && sudo apt install -y cmake g++ wget unzip @@ -182,7 +167,6 @@ source install/setup.bash ros2 launch go2_robot_sdk robot.launch.py ``` - ## Foxglove

@@ -198,7 +182,6 @@ sudo snap install foxglove-studio 2. In the "Open Connection" settings, choose "Foxglove WebSocket" and use the default configuration ws://localhost:8765, then press "Open". 3. (Optional) You can also import a default layout view from the foxglove.json file located inside this repository. - ## SLAM

@@ -209,11 +192,17 @@ sudo snap install foxglove-studio To contribute or modify the project, refer to these resources for implementing additional features or improving the existing codebase. PRs are welcome! +## Your feedback and support mean the world to us. + +If you're as enthusiastic about this project as we are, please consider giving it a :star: star on our GitHub repository. + +Your encouragement fuels our passion and helps us develop our RoadMap further. We welcome any help or suggestions you can offer! + +Together, let's push the boundaries of what's possible with the Unitree Go2 and ROS2! ## Thanks Special thanks to @legion1581, @tfoldi, @budavariam, @alex.lin and TheRoboVerse community! - ## License This project is licensed under the BSD 2-clause License - see the [LICENSE](https://github.com/abizovnuralem/go2_ros2_sdk/blob/master/LICENSE) file for details. From 9aeeb87eec8e59a5b4a5709c153c514f875bfaea Mon Sep 17 00:00:00 2001 From: abizovnuralem Date: Fri, 15 Mar 2024 23:30:18 +0500 Subject: [PATCH 2/3] fix --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index 3bcaca6..3356033 100644 --- a/README.md +++ b/README.md @@ -201,6 +201,7 @@ Your encouragement fuels our passion and helps us develop our RoadMap further. W Together, let's push the boundaries of what's possible with the Unitree Go2 and ROS2! ## Thanks + Special thanks to @legion1581, @tfoldi, @budavariam, @alex.lin and TheRoboVerse community! ## License From 0dcbd4b4802e72a28770b6b47223b7e0340559e0 Mon Sep 17 00:00:00 2001 From: abizovnuralem Date: Fri, 15 Mar 2024 23:31:47 +0500 Subject: [PATCH 3/3] fix --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 3356033..8aa3633 100644 --- a/README.md +++ b/README.md @@ -143,7 +143,7 @@ cargo should work in terminal cargo --version ``` -build it +Build it You need to install ros2 and rosdep package first.