{"id":344637,"date":"2023-07-04T13:12:31","date_gmt":"2023-07-04T04:12:31","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=344637"},"modified":"2023-08-01T11:44:51","modified_gmt":"2023-08-01T02:44:51","slug":"go1_ros_highlevel","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/go1_ros_highlevel.html","title":{"rendered":"\u3010Unitree Go1\u3011\u5916\u90e8PC\u4e0a\u304b\u3089\u7121\u7dda\u3067 unitree_ros_to_real \u3092\u5b9f\u884c\u3059\u308b\uff1a\u30cf\u30a4\u30ec\u30d9\u30eb\u5236\u5fa1"},"content":{"rendered":"<h4><span style=\"color: #333333;\">1. \u306f\u3058\u3081\u306b<\/span><\/h4>\n<p>Go1\u3092ROS\u3092\u7528\u3044\u3066\u904b\u52d5\u5236\u5fa1\u3059\u308b\u305f\u3081\u306b\u3001Unitree\u793e\u306funitree_ros_to_real \u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u516c\u958b\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>Go1\u306e\u904b\u52d5\u5236\u5fa1\u306b\u306f\u4e8c\u7a2e\u985e\u3042\u308a\u3001\u30cf\u30a4\u30ec\u30d9\u30eb\u5236\u5fa1\u306f\u30c7\u30d5\u30a9\u30eb\u30c8\u306e\u6b69\u884c\u30d1\u30bf\u30fc\u30f3\u3092\u5229\u7528\u3059\u308b\u3082\u306e\u3067\u3001\u30ed\u30fc\u30ec\u30d9\u30eb\u5236\u5fa1\u306f\u305d\u308c\u3092\u5229\u7528\u305b\u305a\u5404\u30e2\u30fc\u30bf\u30fc\u306e\u89d2\u5ea6\u3084\u89d2\u901f\u5ea6\u3001\u30c8\u30eb\u30af\u3092\u5236\u5fa1\u3059\u308b\u3082\u306e\u3067\u3059\u3002\u672c\u7a3f\u3067\u306f\u3001Go1\u306b\u7121\u7dda\u63a5\u7d9a\u3092\u3057\u3001\u5916\u90e8PC\u4e0a\u304b\u3089unitree_ros_to_real \u306e\u30cf\u30a4\u30ec\u30d9\u30eb\u5236\u5fa1\u3092\u5b9f\u884c\u3059\u308b\u65b9\u6cd5\u3092\u3054\u6848\u5185\u3057\u307e\u3059\u3002<\/p>\n<p>\u203b Go1\u5185\u90e8\u306b\u306f\u30c7\u30d5\u30a9\u30eb\u30c8\u3067ROS\u304c\u542b\u307e\u308c\u3066\u3044\u307e\u3059\u304c\u3001\u5916\u90e8\u306eROS\u306e\u30ce\u30fc\u30c9\u3092\u5185\u90e8\u306eROS\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u306b\u63a5\u7d9a\u3059\u308b\u306a\u3069\u3057\u3066\u5185\u90e8\u30fb\u5916\u90e8\u306eROS\u3092\u307e\u305f\u3044\u3067\u901a\u4fe1\u3057\u3088\u3046\u3068\u3059\u308b\u3068\u3001Go1\u306e\u8a2d\u8a08\u4e0a\u3067\u306f\u7169\u96d1\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<p>\u4e00\u65b9\u3067\u3001unitree_ros_to_real \u3092\u5916\u90e8PC\u3067\u5b9f\u884c\u3059\u308b\u5834\u5408\u3067\u306f\u3001\u5185\u90e8\u306eRaspberry Pi\u306bUDP\u901a\u4fe1\u3059\u308b\u3053\u3068\u3067Go1\u3092\u52d5\u304b\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/06\/ros_to_real_udp.png\" alt=\"\" width=\"612\" height=\"289\" class=\"wp-image-344701 alignnone\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/06\/ros_to_real_udp.png 800w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/06\/ros_to_real_udp-300x142.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/06\/ros_to_real_udp-768x363.png 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/06\/ros_to_real_udp-423x200.png 423w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/06\/ros_to_real_udp-426x201.png 426w\" sizes=\"auto, (max-width: 612px) 100vw, 612px\" \/><\/p>\n<p>Github unitree_ros_to_real: <a href=\"https:\/\/github.com\/unitreerobotics\/unitree_ros_to_real\" target=\"_blank\" rel=\"noopener\">https:\/\/github.com\/unitreerobotics\/unitree_ros_to_real<\/a><\/p>\n<p>&nbsp;<\/p>\n<h4><span style=\"color: #333333;\">2. \u74b0\u5883<\/span><\/h4>\n<p>\u4ee5\u4e0b\u306e\u74b0\u5883\u306b\u3066\u3001\u3053\u306e\u624b\u9806\u304c\u6709\u52b9\u3067\u3042\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<ul>\n<li>\u6a5f\u7a2e: R&amp;D(Edu), R&amp;D+(Edu+)<\/li>\n<li>\u5916\u90e8PC: Linux Ubuntu 20.04 (amd64)<\/li>\n<li>ROS: Noetic<\/li>\n<li>unitree_legged_sdk: v3.8.6<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h4><span style=\"color: #333333;\">3. \u624b\u6bb5<\/span><\/h4>\n<h6><span style=\"color: #333333;\">3.1 GO1\u3078\u306e\u7121\u7dda\u63a5\u7d9a<\/span><\/h6>\n<p><span lang=\"EN-US\">\u5916\u90e8PC\u3092Go1\u304b\u3089\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u51fa\u3066\u3044\u308b<\/span>\u300c<span lang=\"EN-US\">Unitree_Go<\/span>\u3007\u3007\u3007\u3007\u3007\u3007<span lang=\"EN-US\">A<\/span>\u300d\u3068\u3044\u3046<span lang=\"EN-US\">Wi-Fi<\/span>\u306b\u63a5\u7d9a\u3057\u3001\u30d1\u30b9\u30ef\u30fc\u30c9\u3092\u5165\u529b\u3057\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ ping 192.168.12.1<\/code><\/pre>\n<\/div>\n<p>\u3067\u3001\u7121\u7dda\u63a5\u7d9a\u3067\u304d\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u307e\u3059\u3002<\/p>\n<h6><span style=\"color: #333333;\">3.2 \u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9<\/span><\/h6>\n<p>\u9069\u5b9c\u306b\u30ef\u30fc\u30af\u30da\u30fc\u30b9\uff08\u3053\u3053\u3067\u306fcatkin_ws\uff09\u3068\u30bd\u30fc\u30b9\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3092\u4f5c\u308a\u3001unitree_ros_to_real \u3068\u4f9d\u5b58\u30d1\u30c3\u30b1\u30fc\u30b8\u306eunitree_legged_sdk \u3092\u30af\u30ed\u30fc\u30f3\u3057\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ mkdir -p ~\/catkin_ws\/src\r\n$ cd ~\/catkin_ws\/src\r\n$ git clone https:\/\/github.com\/unitreerobotics\/unitree_ros_to_real\r\n$ git clone https:\/\/github.com\/unitreerobotics\/unitree_legged_sdk<\/code><\/pre>\n<\/div>\n<h6><span style=\"color: #333333;\">3.3 <\/span><span style=\"color: #333333;\">\u5b9b\u5148\u306eIP\u30a2\u30c9\u30ec\u30b9\u306e\u5909\u66f4<\/span><\/h6>\n<p>\u63a5\u7d9a\u3057\u305fWi-Fi\u3067UDP\u901a\u4fe1\u3092\u884c\u3044\u30cf\u30a4\u30ec\u30d9\u30eb\u5236\u5fa1\u3092\u3059\u308b\u305f\u3081\u306b\u306f\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306bros_udp.cpp \u5185\u306e\u5b9b\u5148\u306eIP\u30a2\u30c9\u30ec\u30b9\u3092<code>192.168.12.1<\/code>\u306b\u5909\u66f4\u3057\u307e\u3059\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/06\/go1_ros_udp-1.png\" alt=\"\" width=\"874\" height=\"251\" class=\"alignnone size-full wp-image-344698\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/06\/go1_ros_udp-1.png 874w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/06\/go1_ros_udp-1-300x86.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/06\/go1_ros_udp-1-768x221.png 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/06\/go1_ros_udp-1-696x200.png 696w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/06\/go1_ros_udp-1-426x122.png 426w\" sizes=\"auto, (max-width: 874px) 100vw, 874px\" \/><\/p>\n<p>\u5909\u66f4\u5f8c\u3001\u30d3\u30eb\u30c9\u3057\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ cd ~\/catkin_ws\r\n$ catkin_make\r\n<\/code><\/pre>\n<\/div>\n<p>\u6700\u5f8c\u306b\u3001\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u3092\u6709\u52b9\u5316\u3057\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ source devel\/setup.bash <\/code><\/pre>\n<\/div>\n<p>&nbsp;<\/p>\n<h6><span style=\"color: #333333;\">3.4 \u5b9f\u884c<\/span><\/h6>\n<p>(1) \u306f\u3058\u3081\u306b\u30ed\u30fc\u30f3\u30c1\u30d5\u30a1\u30a4\u30eb\u3092\u5b9f\u884c<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ roslaunch unitree_legged_real real.launch ctrl_level:=highlevel\r\n<\/code><\/pre>\n<\/div>\n<p>\u307e\u305f\u306f\u3001\u30ad\u30fc\u30dc\u30fc\u30c9\u3067\u64cd\u4f5c\u3057\u305f\u3044\u5834\u5408\u306f\u3001<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ roslaunch unitree_legged_real keyboard_control.launch\r\n<\/code><\/pre>\n<\/div>\n<p>\u3092\u5b9f\u884c\u3059\u308b\u3002\u30b5\u30f3\u30d7\u30eb\u3067\u306f\u3001&#8221;w&#8221;\/&#8221;s&#8221;\/&#8221;a&#8221;\/&#8221;d&#8221; \u3067\u524d\u5f8c\u5de6\u53f3\u306b\u52d5\u304f\u3001&#8221;j&#8221;\/&#8221;l&#8221; \u3067\u5de6\u53f3\u306b\u66f2\u304c\u308b\u3001&#8221;q&#8221; \u3067\u7d42\u4e86\u3068\u306a\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>(2) \u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u5b9f\u884c<\/p>\n<p>unitree_ros_to_real \u306b\u306f\u3001\u30b5\u30f3\u30d7\u30eb\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u304c\u8907\u6570\u542b\u307e\u308c\u3066\u3044\u307e\u3059\u3002\u30cf\u30a4\u30ec\u30d9\u30eb\u5236\u5fa1\u306b\u3064\u3044\u3066\u306f\u3001<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ rosrun unitree_legged_real example_walk<\/code><\/pre>\n<\/div>\n<p>\u52d5\u4f5c\u306e\u69d8\u5b50\uff1a<\/p>\n<div style=\"width: 1249px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-344637-1\" width=\"1249\" height=\"703\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/06\/example_walk.mp4?_=1\" \/><a href=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/06\/example_walk.mp4\">https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/06\/example_walk.mp4<\/a><\/video><\/div>\n<p>&nbsp;<\/p>\n<ul>\n<li>\u30ed\u30dc\u30c3\u30c8\u304b\u3089\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u3092\u53d7\u3051\u53d6\u308b<\/li>\n<\/ul>\n<div class=\"hcb_wrap\">\n<pre><code>$ rosrun unitree_legged_real state_sub<\/code><\/pre>\n<\/div>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/06\/Screenshot-from-2023-06-29-15-46-43.png\" alt=\"\" width=\"725\" height=\"95\" class=\"alignnone size-full wp-image-344690\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/06\/Screenshot-from-2023-06-29-15-46-43.png 725w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/06\/Screenshot-from-2023-06-29-15-46-43-300x39.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/06\/Screenshot-from-2023-06-29-15-46-43-426x56.png 426w\" sizes=\"auto, (max-width: 725px) 100vw, 725px\" \/><\/p>\n<p>&nbsp;<\/p>\n<h3>\u95a2\u9023\u8a18\u4e8b<\/h3>\n<p><a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/go1_install_lcm.html\">\u3010Unitree Go1\u3011\u5916\u90e8PC\u4e0a\u3067unitree_legged_sdk\u3092\u5b9f\u884c\u3059\u308b\u65b9\u6cd5<\/a><br \/>\n<a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/go1_ros_lowlevel.html\">\u3010Unitree Go1\u3011\u5916\u90e8PC\u4e0a\u304b\u3089\u7121\u7dda\u3067 unitree_ros_to_real \u3092\u5b9f\u884c\u3059\u308b\uff1a\u30ed\u30fc\u30ec\u30d9\u30eb\u5236\u5fa1<\/a><\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>1. \u306f\u3058\u3081\u306b Go1\u3092ROS\u3092\u7528\u3044\u3066\u904b\u52d5\u5236\u5fa1\u3059\u308b\u305f\u3081\u306b\u3001Unitree\u793e\u306funitree_ros_to_real \u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u516c\u958b\u3057\u3066\u3044\u307e\u3059\u3002 Go1\u306e\u904b\u52d5\u5236\u5fa1\u306b\u306f\u4e8c\u7a2e\u985e\u3042\u308a\u3001\u30cf\u30a4\u30ec\u30d9\u30eb\u5236\u5fa1\u306f\u30c7\u30d5\u30a9\u30eb\u30c8\u306e\u6b69\u884c\u30d1\u30bf\u30fc\u30f3\u3092 &hellip;<\/p>\n","protected":false},"author":20,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[31,26],"tags":[],"class_list":["post-344637","post","type-post","status-publish","format-standard","hentry","category-go1","category-unitree"],"_links":{"self":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344637","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/users\/20"}],"replies":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/comments?post=344637"}],"version-history":[{"count":24,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344637\/revisions"}],"predecessor-version":[{"id":344974,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344637\/revisions\/344974"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=344637"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=344637"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=344637"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}