Unitree Go2

Please note that this workspace is only tested in simulation.

Run the container

# Run the container
cd /home/ros2-essentials/go2_ws/docker
docker compose up -d --build
docker exec -it ros2-go2-ws bash

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

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.