Hello Sohail,
I need your support again.
My goal is to implement a custom low-level controller for the H1-2 which I want to test in simulation first. Therefore it would be beneficial to use more general codebase like unitree_ros2 or unitree_sdk2 instead of qre, because there are MuJoCo frameworks for them already.
But before I start with the controller I want to understand how I can control the motors with the /lowcmd topic. I tried to create a publisher node in qre h1_platform to access low level control, but it seems there is no implementation for low-level control in your codebase because there is nothing subscribing to that topic (doesn’t matter which mode). Or did I just miss something?
The next logical step for me was copying unitree_ros2 repo and follow the install instructions. After the installation and connection with the robot I’m not able to see the proposed topics only the ones from qre (Robot not in develop mode). What am I missing here?
Yes we would recommend the same
In this case you first have to put the robot in debug mode, and I would recommend using the unitree_sdk example first to see. For low-level control we using the SDK directly.
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