Instruction

The project provides a mapping and navigation package for Unitree quadruped robots in Gazebo(Ubantu18.04).

The content is divided into three parts:

(1) Basic motion control of quadruped robot(C++)

(2) Dynamic obstacle avoidance navigation(ROS)

(3) SLAM mapping based on LiDAR(ROS)

Give it a star if it helps you, thank you ~

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Reference

• Unitree document
• Video Explanations
• Project in Baidu web disk

Code example

1. Motion control Switch the robot state according to the keyboard keys, read the reference Unitree document for details.

   FreeStand state:W-A-S-D-I-J-K-L,Trotting state:W-A-S-D-J-L

   The project in Baidu web disk provides a detailed code annotation.

Terminal_1:

    cd ~/unitree_ws
    source ./devel/setup.bash
    roslaunch unitree_guide gazeboSim.launch

Terminal_2:

    cd ~/unitree_ws
    source ./devel/setup.bash
    sudo ./devel/lib/unitree_guide/junior_ctrl

2. Navigation

   Note: you need to set(MOVE_BASE ON) in the unitree_guide/CMakeLists.txt file.

    roslaunch unitree_move_base gazebo_move_base.launch

    sudo ./devel/lib/unitree_guide/junior_ctrl

    roslaunch unitree_move_base rvizMoveBase.launch

3. SLAM mapping

   Note: Check the contents of the robot_description parameter in the src\unitree_guide\unitree_move_base\launch\move_base.launch file to ensure that the robot model loaded with radar is used.

    roslaunch unitree_move_base gazebo_move_base.launch

    sudo ./devel/lib/unitree_guide/junior_ctrl

    roslaunch unitree_move_base slam_gmapping.launch

In terminal_4, You can write code to control the robot's walk to complete the mapping, just send data to the cmd_vel topic.Or refer to key control:

    rosrun teleop_twist_keyboard teleop_twist_keyboard.py