Hello everyone!!
Let me introduce myself, my name is Juan Carlos Manzanares and I belong to a robotics research group called Intelligents Robotics Lab, belonging to the Rey Juan Carlos University, Madrid, Spain. In this group we develop some projects, such as MOCAP4ROS2, PlanSys2, CascadeLifecycle, marathon for nav2, robocups…
Today, together with @Fmrico and @juanscelyg, I come to present our implementation to make the unitree go 2 robot work in ros2, in this case for dds.
This implementation is given since once you connect to this robot you can see topics, but you do not see any launched nodes. Furthermore, there is too much information in these topics that we are not typically used to seeing in a robot. By this I mean being able to see a /robot_description, being able to see the /joints_states of the motors, being able to move our robot easily using a /cmd_vel.
In the previous repository, you can find how to use our “driver”, fully implemented in c++, with all the steps to follow to change your robot’s mode, change settings, command speeds, etc… Also, you can find a small list of implementations that we already have done, or which we are currently working on.
I show you some images of what was mentioned:
We are currently developing support to be able to do slam and nav2 with this robot, so we hope to update within a couple of weeks with new news about it ^ ^. Also, in the future (hopefully soon), we want to have a gazebo simulation ready, so that anyone who does not have this robot can also work with it.
This post is not only to show our work, but also to invite the entire community to contribute to it, helping to find small bugs, developing new things… So I invite everyone to contribute to this repository.
Thank you very much for reading the post and I hope it helps many of you.
Greetings.
