Commands not working

[lucasbrodo]

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.

[mfclabber]

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.

Hello, friend. You can watch this one issue

[lucasbrodo]

Hello friend. Thanks you for the tip !

However now, when running the ros commands for teleoperating the robot in Rviz only (roslaunch quad_utils quad_gazebo.launch robot_type:=go1, etc), the robot does not move. It can stand up using rostopic pub /robot_1/control/mode std_msgs/UInt8 "data: 1". The local planner and the teleoperation seem to work but no motion is applied to the robot after being standed up, despite giving velocity commands...

I also tried running on the real robot after putting it in low-level mode. I receive this error when executing roslaunch quad_utils test_remote_driver.launch :

Again, thanks for your help !

[mfclabber]

Привет, друг. Спасибо тебе за совет!

Однако теперь, при выполнении команд ros для телеуправления роботом только в Rviz (roslaunch quad_utils quad_gazebo.launch robot_type:=go1 и т.д.), робот не двигается. Он может встать с помощью rostopic pub /robot_1/control/mode std_msgs/UInt8 "data: 1". Локальный планировщик и телеоперация, похоже, работают, но после того, как робот встал, к нему не применяется движение, несмотря на то, что он подает команды скорости...

Я также пытался запустить реального робота после перевода его в низкоуровневый режим. Я получаю эту ошибку при выполнении roslaunch quad_utils test_remote_driver.launch :

Еще раз спасибо за вашу помощь !

You can check this answer

[nanbwrn]

hi, @lucasbrodo
Have you solved this problem based on the author's suggestions? I've encountered a similar issue, but so far, following the suggestions hasn't improved the situation.
thank you very much.

[nanbwrn]

hi,@lucasbrodo
I added the relevant paths in my .bashrc, then ran 'source ~/.bashrc'. However, when I rerun the 'quad_gazebo.launch' command, strangely, the robot model still does not display correctly in RViz. How did you resolve this issue?

Thank you for your reply.