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:
-
@@ -39,23 +47,6 @@ Go2 Air/PRO/EDU lidar 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
-
## 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.