[Unitree A1] Updating old A1 drivers

Software
1

Hello anyone who could help me,

I had the brief email exchange with mybotshop below, but I get no more replies now.
In essence, I cannot get the UDP communication to work probably due to old outdated A1 drivers,
and need an update.

But in part, the drivers are not public, I gather? or? In earlier threads there are mentions of a qre_a1 package, but the link to it gives a 404 – page not found.

Thankful for help,

Cheers,

/Fredrik

Hello,

I work for the Swedish Defence Research Agency (FOI), we purchased a robot, Unitree A1 from you about 4 years ago.

While we have run it in teleoperation since, I am now looking into more autonomous
behaviours and need to control it by the SDK. It seems outdated as it was provided in 2021,
and the example programs in the SDK do not run, the UDP communication fail.

Who can I talk to, be given assistance to update firmware etc? (specifically It is regarding the controller A1_sport_1 (we have v 1.09), possibly firmware on the controller board, the SDK I guess is easily available for download).

–

Please follow the guide in our documentation to update the driver to version 3.2. This should help

resolve the UDP communication issues you are experiencing with the older SDK.

If you encounter any errors or need further assistance, please feel free to post your questions—
along with screenshots if possible—in our online forum . We will be happy to support you.

–

It says on the page

“For the A1 installation package please email support@mybotshop.de”

and you also reference a a1_installation_script.bash which I cannot find anywhere.

But I understand I should download the unitree_legged_sdk version 3.2

(there is also one called 3.3.1 which seems to be the latest A1 compatible?)

2

Dear frederik,

it sounds to me, you are missing our qre_a1 package, which is closed source to customers. If you have purchased your A1 from us, please submit your Invoice with your Github ID & Name to support@mybotshop.de to get access to our private repo.

Have a nice day!

3

I am trying to control the robot from ROS over HighCmd, using udp. There are many examples with and without ROS that seem to do this, example_walk.cpp for example. I can get the A1 to move with the LowCmd examples, but I cannot get it to accept HighCmd (192.168.123.161:8082), no movement at all. The sizeof(HighCmd) seems to match the send length, 129, but the recv length I get back is 265, while the sizeof(HighState) is 1087. What am I missing? The A1_sport_1 is version 1.19, while A1_sport_2 (not used most times?) is 1.09. Is it necessary to use LCM? Does not seem like it, given examples. Or is the port wrong? Effective ways to debug?

Merry Xmas!