I am currently trying to set up our new Go1 to control it via ROS.
Since there is currently no Go1 Software Guide, that I’m aware of, I am using the A1 Software Guide instead.
I think I’ve compiled everything needed (
unitree_ros_to_real) for the Go1 but not all mentioned packages or nodes are part of the newer versions of the unitree repositories or got at least a new name.
My plan was to start with the control examples (4.4.2) from the A1 Software Guide:
- I guess the executed
sdk_lcm_server_lowis now just called
lcm_serverand can be started via the launch file
real.launch, no problem here.
- I’m also assuming that the
a1_real position_lcm_publisheris now part of the
unitree_legged_realpackage and called
But since I want to control it via highlevel commands, I’d guess to execute
But that is where the instructions end.
So my questions are the following:
- Are my assumptions correct?
- Do I need to reconfigure the ip-addresses in the SDK since the there stated address is
192.168.123.161but the Go1 uses the
- Is anything else needed to control the Robot in HighLevel-Mode?
Thanks in advance!