mfclabber / quad-sdk_go1

Software tools for agile quadrupeds (Unitree Go1)

quad-sdk_go1's Issues

question about joint orders and directions

Hi friend, good work.
Could I ask for quad sdk joint orders ?

testing on my robot, not a unitree one.
all my controllers are clockwise. I seems that it's not thecase on unitree..

Could you share your sent joint order and their direction ?
mine are : Fr_haa, Fr_hfe, Fr_kfe, Fl...., Hr..., HL... ? (from 0 to 11)

mine direction are : (-++ --- +++ +--)

Really hope any help .
Thanks friend
Vincent

is your ekf_estimator working ?

Hello, my homemade robot hasn't any foot sensors. (not a unitree style one)
I'd like to make my robot walk without T265 odom camera.
Does youe ekf estimator work ?
If yes, i just have to change it into launch files ?
Thanks a lot, friend

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Commands not working

Hello,

Thanks for your work.

I'm encountering problems when trying to run your code on the Unitree Go1 EDU. I put the robot into the low-level mode before running your commands.

I followed the installation instructions (I'm using Ubuntu 20.04 and ROS Noetic) but when I run roslaunch quad_utils test_remote_driver.launch, I have the following error and the robot in Rviz is not displayed correctly.

The installation steps I followed :

mkdir -p ~/quad_go1_ws/src
cd ~/quad_go1_ws/src
git clone https://github.com/mfclabber/quad-sdk_go1.git
cd quad-sdk_go1
cp -r /path/to/coinhsl ./external/ipopt/coinhsl # verify that quad-sdk/external/ipopt/coinhsl/ma27/ma27d.f is a valid path
chmod +x setup.sh && ./setup.sh
git clone https://github.com/unitreerobotics/unitree_legged_sdk.git
cd unitree_legged_sdk
mkdir build
cmake .. && make
cd ~/quad_go1_ws
catkin build || catkin_make

Did I miss something ? Should I use Melodic instead of Noetic ?

Thank you very much for your help.