rosenv_for_unitree

This repository is for making ROS2 docker on Unitree robots (Jetson ARM64)
Docker container include ROS2humble, and necesarry packages for control Unitree robots with Low-Level (i checked Go2 and G1)

reference

• https://github.com/hrjp/rosenv
• https://github.com/IntelRealSense/realsense-ros
• https://github.com/unitreerobotics/unitree_ros2
• https://github.com/jetsonhacksnano/installLibrealsense
• https://github.com/ros2/rosidl_dds.git

Setup

1.git colne

git clone https://github.com/KobeKosenRobotics/rosenv_for_unitree

2. make container

• Check Jetpack of your Jetson

cat /etc/nv_tegra_release

cd rosenv_for_unitree/docker
docker build . -t unitree/ros2:humble

cd
chmod +x rosenv_for_unitree/docker/run.bash
./rosenv_for_unitree/docker/run.bash

3. build necessary packages

Install Realsense SDK2.0

cd /home/colcon_ws/src/
git clone https://github.com/jetsonhacksnano/installLibrealsense
cd installLibrealsense/
./installLibrealsense.sh

# If your docker can use CUDA, this step can be skipped 
vi buildLibrealsense.sh

# And then, replace the row of 10,35 like this 
# 10  USE_CUDA=false
# 35  USE_CUDA=false

./buildLibrealsense.sh

• Check Realsense connections

#If you want to check the connection with realsense camera, execute below
#realsense-viewer

Install ROS packages

cd /home/colcon_ws/src
git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-master
git clone https://github.com/unitreerobotics/unitree_ros2.git

Install dependencies

cd /home/colcon_ws
sudo apt-get install python3-rosdep -y
sudo apt install ros-$ROS_DISTRO-rmw-cyclonedds-cpp
sudo apt install ros-$ROS_DISTRO-rosidl-generator-dds-idl
sudo apt install libyaml-cpp-dev
sudo rosdep init # "sudo rosdep init --include-eol-distros" for Foxy and earlier
rosdep update # "sudo rosdep update --include-eol-distros" for Foxy and earlier
rosdep install -i --from-path src --rosdistro $ROS_DISTRO --skip-keys=librealsense2 -y

source /opt/ros/humble/setup.bash

colcon build
source install/setup.bash