- z1_bingup - Simple launching package for starting necessary components of the MoveIt driver.
- z1_controller - For direct control of the robot arm and connection to the SDK.
- z1_hw - Hardware interface between robot and MoveIt. Creates a joint_trjectory_controller for the arm and an action server for the gripper.
- z1_moveit_config - Example configuration for using MoveIt with a Z1 arm.
- z1_rviz - Simple RVIZ launches and configurations for displaying a currently running arm, or the URDF to verify the setup.
- z1_examples - Examples for using moveit.
- z1_sdk - Examples for using udp communication.
Welcome to the ROS driver for the Unitree Z1!
Setup - Configure the environment
Usage - Contrl the z1 arm
Attention: The z1_controller package in z1_ros is different from https://github.com/unitreerobotics/z1_controller, and https://github.com/unitreerobotics/z1_sdk is not compatible with this package.
See details z1_controller
Z1_README: https://dev-z1.unitree.com/brief/installation.html
If you aren't using a real robot arm, you can simulate an arm in Gazebo.
roslaunch z1_bringup sim_arm.launch UnitreeGripperYN:=false RealSense:=true rviz:=true