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v1.0.0 - ROS2 Setup and Control for Unitree G1 23-DOF with BrainCo Revo2 Hand

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@AlinaXZ AlinaXZ released this 13 Nov 07:49
· 3 commits to main since this release
v1.0.0
270fa74

ROS2 Setup and Basic Control for Unitree G1 23-DOF Robot with BrainCo Revo2 Dexterous Hand

Version: v1.0.0
Release Type: Stable

Overview

This release provides the ROS2-based control framework to integrate the BrainCo Revo2 dexterous hand with the Unitree G1 Edu 23-DOF robot. It includes a complete setup for coordinated dual-arm and dual-hand control, along with example motions for basic tasks.

Updates in v1.0.0

Note: Supports only the Unitree G1 Edu 23-DOF robot.

  • Support for ROS2 Foxy environment on Linux (pre-installed on Unitree G1 robot).
  • Dual 485 serial communication for BrainCo hands (/dev/ttyUSB0 for left hand, /dev/ttyUSB1 for right hand).
  • Example state machine and action scripts for motion control.

Included Workspaces

  1. brainco_ws

    • Robot arm IK based on Unitree/xr_teleoperate
    • Main control: smach_action.py
    • State machine client: keyboard_call.py

  2. ros2_stark_ws

    • BrainCo Revo2 hand ROS2 SDK
    • Main control node: stark_node.cpp
    • Dual-hand communication via single ROS node
Assets 2
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