Unitree A1 ROS2 Driver

The UNOFFICIAL ROS2 driver for Unitree robotics dog A1

Setting up

Workspace setup

Please make sure you have the following checked out in your colcon workspace together:

• https://github.com/huawei-ros/unitree_legged_sdk
• https://github.com/lcm-proj/lcm
• http://github.com/crystaldust/unitree_a1_ros2.git

Once the two former packages are released upstream, rosdep install should be sufficient to pull in dependencies.

Unitree A1 high level state support list

The Unitree SDK define a "HighState" to present the high level control of the robotics dog, there are still some constraints of the driver because some features are missing from the SDK(unitree_legged_sdk)

HighState	Explanation	Supported or not
levelFlag	High level or low level flag,"0x00" for high level,"0xff" for low level	Supported
mode	Robot mode, "1" for stand mode, "2" for walk mode	Setting mode is supported, while accessing the mode is not
imu	Quaternion、angular velocity、accelerometer、temperature	Partially supported(temperature under sport mode is not accessible)
forwardSpeed	Walk forward speed	Supported
sideSpeed	The speed of lateral walk	Supported
rotateSpeed	Rotate speed	Supported
bodyHeight	Current body height	Supported
updownSpeed	Standing or squatting speed	Supported
forwardPosition	front or rear displacement(?)	Supported
sidePosition	left or right displacement(?)	Supported
footPosition2Body	Position of the feet relative to the body	Supported
footSpeed2Body	Foot speed relative to the body	Supported
footForce	The force on the foot	Supported
wirelessRemote	Wireless command	Supported
crc	Checksum	Supported

Comment:

1.Setting sport mode is not supported through calling unitree sdk.

2.In normal mode, the robot dog will drift when stepping, It's best to develop in sport mode.

3.Getting temperature in sport mode is not supported.

4.Getting the current mode of the robot dog is not supported.