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unitree_interface

hardware version: 2.0

software version: 1.0.29

unitree_ros2 commit: 66ae09858245ac3d2231c0cc209e36a88f8d7d03

Network Configuration

  1. Configure ethernet interface for Unitree
UNITREE_ETH_INTERFACE=<interface_name>
sudo nmcli connection add type ethernet ifname $UNITREE_ETH_INTERFACE con-name unitree_eth
sudo nmcli connection modify unitree_eth ipv4.addresses 192.168.123.99/24
sudo nmcli connection modify unitree_eth ipv4.gateway 192.168.123.1
sudo nmcli connection modify unitree_eth ipv4.dns 8.8.8.8
sudo nmcli connection modify unitree_eth ipv4.method manual
sudo nmcli connection up unitree_eth
  1. Configure ethernet interface for Ouster
OS_ETH_INTERFACE=<interface_name>
sudo nmcli connection add type ethernet ifname $OS_ETH_INTERFACE con-name os_eth
sudo nmcli connection modify os_eth ipv4.addresses 192.168.100.10/24
sudo nmcli connection modify os_eth ipv4.gateway 192.168.100.1
sudo nmcli connection modify os_eth ipv4.dns 8.8.8.8
sudo nmcli connection modify os_eth ipv4.method manual
sudo nmcli connection up os_eth

Launch

  1. Launch unitree_teleop -- either SDK2 interface or ROS2 interface
  • SDK2 interface 
    ros2 launch unitree_teleop unitree_teleop.launch.py
  • ROS2 interface 
    ros2 launch unitree_teleop_ros2 unitree_teleop_ros2_cyclonedds.launch.py

Both teleop interfaces use the flight controller's MAVROS RC input by default. The default RC topic is /mavros/rc/in and can be changed with rc_in_topic. To use the USB joystick instead, set input_source:=joy:

ros2 launch unitree_teleop_ros2 unitree_teleop_ros2_cyclonedds.launch.py \
  input_source:=joy
  1. Launch sensors
  • Ouster and LIO 
    ros2 launch unitree_interface ouster128_rko_lio.launch.py
  • ZED cameras, Ouster and LIO 
    ros2 launch unitree_interface sensors_lio.launch.py