Hi everyone, I hope you’re having a great day!
I created a RL policy to make the unitree go2 walk, and it works okay. After cloning the unitree_ros2 repo and being able to see all the topics, I know that the bridge is working properly. The problem I’m facing is that when I send the motor commands through the lowcmd topic, it doesn’t move at all (but it sounds like is trying to move). Using the hypothesis that maybe my controller is the one that is working poorly, I tried to use the examples in the unitree ros2 repo and I got the same situation, no movement but I can hear the motor joints trying to move. I think the problem is with the DDS publisher of what I think is the bridge between ros2 foxy in the go2 and ros2 humble in my computer, as I’m getting this:
“”"
root@PC:~/utils/unitree_ros2_ws# ros2 topic info /lowcmd -v
Type: unitree_go/msg/LowCmd
Publisher count: 1
Node name: CREATED_BY_BARE_DDS_APP
Node namespace: CREATED_BY_BARE_DDS_APP
Topic type: unitree_go/msg/LowCmd
Endpoint type: PUBLISHER
GID: 01.10.e6.3c.68.2e.d3.2a.4a.81.d4.28.00.00.0e.03.00.00.00.00.00.00.00.00
QoS profile:
Reliability: RELIABLE
History (Depth): KEEP_LAST (1)
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite
Subscription count: 1
Node name: CREATED_BY_BARE_DDS_APP
Node namespace: CREATED_BY_BARE_DDS_APP
Topic type: unitree_go/msg/LowCmd
Endpoint type: SUBSCRIPTION
GID: 01.10.c4.2a.ad.eb.6d.80.0e.8c.5a.74.00.00.06.04.00.00.00.00.00.00.00.00
QoS profile:
Reliability: BEST_EFFORT
History (Depth): KEEP_LAST (1)
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite
“”"
I saw the frequency with what is publishing and is around 700hz. I’ve been trying to find how con I disable it but I can’t find anything related to it. Do you have any advice for this please??
For more detail, this is the setup.sh that I run before running the ros2 nodes:
“”"
#!/bin/bash
echo “Setup unitree ros2 environment”
source /opt/ros/humble/setup.bash
source $HOME/utils/unitree_ros2_ws/cyclonedds_ws/install/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=‘
65500B
4000B
65500B
none
’
“”"
Thank you in advance!