Objective: Install packages to simulate Unitree Go1 in Gazebo and control the robot with keyboard based on ROS

1. Prerequisite

• Ubuntu 20.04 with ROS noetic or Ubuntu 18.04 with ROS melodic

2. Installation

2.1 Clone repo including necessary packages

• cd to a directory you like to install

  cd <your favorite directory>
  

• Clone this repo with submodule mode

  git clone --recurse-submodules <https://github.com/Ngochuy2137/unitree_go1_ws.git>
  

• Update all sub repos

  cd unitree_go1_ws
  git submodule update --init --recursive
  

• In the unitree_ros repo, branch master, all packages are setup to check out to proper branches for go1 robot. Therefore, you don’t need to checkout or do anything complicatedly.

2.2 Install dependencies

• Install ROS dependencies with rosdep

  cd <your favorite directory>/unitree_go1_ws
  rosdep install --from-paths src --ignore-src -r -y
  

• Install lcm library if you don’t have

  sudo apt install liblcm-dev
  

2.3 Build unitree_legged_sdk manually

• unitree_ros_to_real isn’t a ROS package, so we need to build it directly by Cmake instead of catkin build or catkin_make

• cd to the package

  cd src/unitree_ros/unitree_ros_to_real/unitree_legged_sdk
  

• If the following steps don’t work, Build the unitree_legged_sdk package by following the instruction in README file

  mkdir build
  cd build
  cmake ..
  make
  

2.4 Build workspace

• Catkin build

cd <your favorite directory>/unitree_go1_ws
catkin build