/tsinghua-Unitree-ROS

Tsinghua University - Summer vacation project for unitree A1 robots( ROS + SLAM )

Primary LanguageMakefile

tsinghua-Unitree-ROS

Introduction

Unitree A1 Robot dogs

ROS melodic + SLAM

Hardware:

System environment:

  • Ubuntu18.04 LTS
  • ROS melodic 1.14.11

Learning materials:

An overview of the Robot Operating System(CN)

Document description

Conducted in two lines

ROS Workspace

A study of SUSTech patroldog_ws (Abandoned)

Document links

Project progress:

  • Test environment build + compile driver (unitree_ros)
  • Gazebo dynamics simulation for Unitree_ROS (aborted)
  • unitree_legged_sdk API library research (no need to look, based on running on ROS)
  • Research patroldog_ws related code (can run basic functions, need secondary development)
  • Build your own ROS_ws project and improve the documentation
  • TF coordinate transformation

Picture:

Hardware architecture diagram

Software architecture diagram

Hardware related:

intel D435i

Github: librealsense
ROS: realsense-ros

Velodyne 16

Github: velodyne
ROS wiki: Getting Started with the Velodyne VLP16

9-axis IMU - Spatial:

Official website: Spatial
ROS wiki: advanced_navigation_driver

References:

unitree Technology A1 Product Description:
https://www.unitree.com/cn/products/a1

A1 ROS related:
https://github.com/unitreerobotics/unitree_ros
https://github.com/unitreerobotics/unitree_legged_sdk

C++ Key functions:
https://www.iteye.com/blog/bingtears-663149

Third party motion control:
https://github.com/lnotspotl/a1_sim_py

Google research:
https://xbpeng.github.io/projects/Robotic_Imitation/index.html
https://ai.googleblog.com/2020/04/exploring-nature-inspired-robot-agility.html