Ice Nine Unitree

This is the ROS melodic package that integrates Unitree GO1 with EMLID Reach RTK GPS system.

Our Wiki page contains various useful information for ROS development using the robot platform.

Dependencies

1. ROS melodic
2. unitree_ros_to_real (our fork)
3. robot_localisation
4. emlid_reach_ros
5. rtkgps_odom_matcher

Installation

The package needs to be installed on the Head Nano PC (192.168.123.15). See Access the Unitree PCs for connection instructions.

Once logged in the Head Nano PC, download all the packages:

git clone https://github.com/ICE9-Robotics/ice9_unitree.git ~/ice9_ws/src/ice9_unitree
git clone -b v3.8.0 https://github.com/unitreerobotics/unitree_legged_sdk.git ~/ice9_ws/src/unitree_legged_sdk
git clone https://github.com/ICE9-Robotics/unitree_ros_to_real.git ~/ice9_ws/src/unitree_ros_to_real
git clone -b melodic-devel https://github.com/cra-ros-pkg/robot_localization.git ~/ice9_ws/src/robot_localisation
git clone https://github.com/tmxkn1/emlid_reach_ros.git ~/ice9_ws/src/emlid_reach_ros
git clone https://github.com/tmxkn1/rtkgps_odom_matcher.git ~/ice9_ws/src/rtkgps_odom_matcher

Install dependencies:

git clone -b master https://github.com/ros-drivers/nmea_msgs.git ~/ice9_ws/src/nmea_msgs
cd ~/ice9_ws
rosdep install --from-paths src -i -y

Then build the package with catkin_make:

cd ice9_ws
caktin_make

Use

roslaunch ice9_unitree unitree.launch