I am quite new in Go1 and Robotics in general.
I try to use the unitree_ros_to_real SDK. I am also able to move the robot with the example_walk.cpp from unitree after starting the Udp connection via real.launch.
I have a wired connection and working on my local machine when executing the examples.
Now I want some state data. After launching real.launch I started the state_sub.cpp. But I get no data output in the console. It seems nothing is published on the topic. Don`t I get data from the robot via Udp?
I guess I am missing something.
Thanks in Advance.
We generally do not support directly the software of Unitree’s SDK as it is ever-evolving and being updated and we cannot keep tabs on each of the new features that are added. So I would advise submitting an email to email@example.com with your GithubID and purchase ID so that we can add you to our GO1 ROS repository. This is a wrapper for the GO1 Unitree’s SDK with additional features pertaining mainly to ROS Noetic/Foxy and provides much more ease of usability as compared to directly writing everything yourself.
As for your question, I need additional information such as if you are connected via ethernet/wifi/direct. Typically it “should” work, the state sub but it depends on several factors.
- Please check whether your GO1 hardware version and sports mode version coincide’s with the SDK that you are using.
- Depending on your network connection, please make sure that the connect IPs and Ports are provided as LAN and WiFi have different modes.
Hopefully, this helps.
S. O. Sohail