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[Unitree GO1] unitree_ros_to_real launch fails

Hello everyone,

I’m trying to run the unitree_legged_real real.launch file on my local machine, connected via wifi to the Go1 robot, but apparently something is wrong here:

$ roslaunch unitree_legged_real real.launch ctrl_level:=highlevel
      ... logging to /root/.ros/log/18f9dffc-d69c-11ec-8609-e45f018678a5/roslaunch-devicename-228.log
      Checking log directory for disk usage. This may take a while.
      Press Ctrl-C to interrupt
      Done checking log file disk usage. Usage is <1GB.
      RLException: Unable to contact my own server at [].
      This usually means that the network is not configured properly.
      A common cause is that the machine cannot connect to itself.  Please check
      for errors by running:
      For more tips, please see
      The traceback for the exception was written to the log file

So I checked the connection as told:

$  ping
      PING ( 56(84) bytes of data.
      64 bytes from icmp_seq=1 ttl=64 time=3.40 ms
      64 bytes from icmp_seq=2 ttl=64 time=2.98 ms
      64 bytes from icmp_seq=3 ttl=64 time=3.47 ms
      --- ping statistics ---
      3 packets transmitted, 3 received, 0% packet loss, time 2003ms
      rtt min/avg/max/mdev = 2.984/3.285/3.469/0.214 ms

The connection to the roscore seems to be fine since I can view all the topics with rostopic list.
I am able to reach all the devices in the network and I was able to run the example_walk from the SDK.

Does somebody know, what I’m doing wrong?

Thanks in advance!


So my assumption to use the ROS core on the robot was wrong.

Since the commands are sent to the robot via UDP, it is not necessary to connect the ROS systems.
Running a local ROS is all you need.

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