[Unitree H1] Trouble Building h1_bringup: Dependency Issues with h1_description and h1_base

[nas]

Hi,

I’m trying to use the h1_bringup package for the Unitree H1 robot, but I’m running into build issues related to missing dependencies. Here’s the full sequence:

1. When I try to build h1_bringup, I get an error saying:

   h1_description not found

2. So I tried building h1_description, but that gives me another error saying:

   h1_base not found

3. Finally, when I try to build h1_base, I get the following error:

   “hardware_interface” not found, even though I already have the hardware_interface package installed.

I’ve confirmed that ros2_control is installed, and I can use other packages that depend on hardware_interface without issues. My ROS 2 distro is humble.

Any idea what might be going wrong? Am I missing a specific version or dependency?

Thanks in advance!

[Sohail]

Hi,

We will be in the coming months update the H1 to the latest version as Unitree has updated their firmware.

For the H1 computer which is generally in ros2_foxy.

• Connect the H1 to the Internet.
• Sync the computer date with the current date
• cd into the h1 directory and run ./h1_install.bash
• Build the ros2_ws cd /home/unitree/ros2_ws && colcon build --symlink-install && source install/setup.bash

Could you confirm via neofetch if the H1 is in ros2_foxy or ros2_humble. If it is in ROS2 Humble then the current repository is not applicable.

[nas]

Hi Sohail,

Although /h1_install.bash is there i cannot run it and when i build it will build most packages except 8.

Furthermore, I ran neofetch on the H1 PC2 onboard computer, but it didn’t show the ROS distro in the output. To confirm, I used the rosdistro command instead, and I can verify that the system is running ROS 2 Humble.

Let me know if you need any additional details.

Best,
Nasser

[Sohail]

@nas

Although /h1_install.bash is there i cannot run it and when i build it will build most packages except 8.

You are in the wrong directory

cd /home/unitree/src/
./h1_install.bash

It is ubuntu 22 so the ROS2 foxy may not work and is not tested with this version. We will update it in in the coming months.