Unitree Go2

Please note that this workspace is only tested in simulation.

🐳 Start Container

Make sure your system meets the system requirements and have followed the setup instructions before using this workspace.

Run the following commands in a Ubuntu desktop environment. If you are using a remote server, make sure you're using a terminal within a remote desktop session (e.g., VNC) instead of SSH (i.e., don't use ssh -X or ssh -Y).

cd ~/ros2-essentials/go2_ws/docker
docker compose build
xhost +local:docker
docker compose up -d
# The initial build will take a while, please wait patiently.

If your user's UID is 1000, you may replace the docker compose build command with docker compose pull.

The commands in the following sections assume that you are inside the Docker container:

# in a new terminal
docker exec -it ros2-go2-ws bash

If the initial build somehow failed, run:

rm -r build install
colcon build --symlink-install

Once you have finished testing, you can stop and remove the container with:

docker compose down

Testing

Isaac Lab Examples

Training environments (Isaac-Velocity-Flat-Unitree-Go2-v0, Isaac-Velocity-Rough-Unitree-Go2-v0):

cd ~/IsaacLab
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Velocity-Rough-Unitree-Go2-v0 --headless
# or
./isaaclab.sh -p scripts/reinforcement_learning/skrl/train.py --task Isaac-Velocity-Rough-Unitree-Go2-v0 --headless

Run pre-trained model inference:

cd ~/IsaacLab
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/play.py --task Isaac-Velocity-Rough-Unitree-Go2-v0 --num_envs 32 --use_pretrained_checkpoint

Champ Controller Demo

1. Launch the Go2 in the Isaac Sim.

ros2 launch go2_bringup go2_bringup.launch.py

1. Launch the Champ controller

ros2 launch champ_bringup go2.launch.py

On the first launch, the Go2 in Isaac Sim may initially stand on its rear legs, which can cause it to fall backwards or sideways during the next step. To fix this, simply stop and restart the Isaac Sim simulation (leave the CHAMP controller running), then proceed with the remaining steps.

1. Send a command to the Go2

We use the teleop_twist_keyboard for demonstration.
You can use any other method as well.

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Nav2 Demo with Champ Controller

Note: This demo is only a quick verification that Nav2 can be used to control the Go2 to reach a target point. Many important steps, such as the Go2's odometry and SLAM, are omitted in this demonstration. In the current pipeline, Nav2 simply uses the ground-truth odometry data provided by Isaac Sim to control and move the Go2 to the target point.

1. Launch the Go2 in the Isaac Sim.

ros2 launch go2_bringup go2_bringup.launch.py

1. Launch the Champ controller

ros2 launch champ_bringup go2.launch.py

1. Launch the Nav2

ros2 launch go2_navigation go2_navigation.launch.py

You can use the 2D Goal Pose in RViz to set the target position, then Nav2 will plan a path and control the Go2 to reach it.

Custom Isaac Sim Environment

Run ~/isaacsim/isaac-sim.sh and open /home/ros2-essentials/go2_ws/isaacsim/assets/go2_og.usda in Omniverse, and then press Play.

In another terminal, exec into the container:

docker exec -it ros2-go2-ws bash

Inspect the joint states and clock:

ros2 topic echo /joint_states
ros2 topic echo /clock

Inspect TF and Odom by launching rviz2 and set Fixed Frame to world and Add > TF. Then, Add > Odometry and set Topic to /odom.

Send a joint command:

ros2 topic pub --once /joint_command sensor_msgs/msg/JointState "{
  name: [
    'FL_hip_joint', 'FR_hip_joint', 'RL_hip_joint', 'RR_hip_joint',
    'FL_thigh_joint', 'FR_thigh_joint', 'RL_thigh_joint', 'RR_thigh_joint',
    'FL_calf_joint', 'FR_calf_joint', 'RL_calf_joint', 'RR_calf_joint'
  ],
  position: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0],
  velocity: [],
  effort: []
}"

The Go2 should move forward a little bit, which can be seen in both Isaac Sim and RViz2.