Go2 ROS2 Toolkit

Unofficial SDK for Quadruped Control (Unitree Go2)

This repository provides an unofficial SDK for conducting experiments on control and navigation with the Unitree GO2 quadruped robot.

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Launch instructions:

To clone the repository with submodules, run the following:

git clone --recurse-submodules https://github.com/illusoryTwin/go2_ros2_control_sim 

git submodule update --init --recursive

In the project root directory (go2_ros2_control_sim)

make run

Or, you can choose a desired type of controller by passing it as an argument CTRL like:

make run CTRL=unitree_guide

or

make run CTRL=rl

After launching, new terminal windows should open for logging, keyboard input control, Mujoco simulation. A Mujoco simulation window should open for visualizing the robot.

Requirements

libtorch

Repository Structure

This repository contains ROS 2 packages and scripts for controlling and simulating the Unitree Go2 robot.

controller/

Contains two types of controllers:

• RL Controller: Based on reinforcement learning.
• Classic Controller: Based on Unitree's guide controller.

commands/

Provides an interface for sending commands to the robot via:

• Keyboard
• Joystick
• Predefined movement tasks

description/

Includes configuration files and descriptions of robot control modes.

bringup/

Launch utilities for starting the robot control system.

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Scripts

utils/

provide a tool for processing the robot state data

scripts/

Contain bash scripts for sourcing the necessary environment variables and dependencies and launch of the main ROS nodes and associated launch files to control the robot.

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When simulation is launched the data from topics is saved as a rosbag. To further analyze this dadta, one can launch

cd utils
python3 plot_data.py

Notes

• This is a custom, non-official Unitree SDK.