This package collects sensor data from the Unitree Go2 robot and presents it in the form of a rosbag.
Install the unitree_ros2 package by following the instructions at https://github.com/unitreerobotics/unitree_ros2.
Create a workspace directory and move the src folder into it. Then, build the package in the workspace direction:
colcon build
Before running the nodes, run the following command in the workspace directory:
source ./unitree_ros2_setup.sh
source ./install/setup.sh
The rosbag data definition is in the robot_state package, and the data structure along with the specific meanings of the data are as follows:
int16[4] foot_force // forces on four feet
float32[12] motor_q // joint angle
float32[12] motor_dq // joint velocity
float32[12] motor_ddq // joint acceleration
float32[12] motor_tau_est // estimated torque
The create_dataset pakage contains three nodes.
This node could control the speed in the x-direction and gait of the robot. Use the following command to run it:
ros2 run create_dataset control_speed <vx> <gait>
// <vx>: double, <gait>: int
<vx> represents the velocity in x direction of the robot. . Additional parameters can also be added to modify the velocity in y-direction <vy> and the angular velocity <vyaw>.
However, the angular velocity<vyaw> needs to be within the range of [−4,4] rad/s, and <vx>, <vy>need to be within [−2.5,−5] m/s.
<gait> represents the gait of the robot.The values ranging from 0 to 4, where 0 is idle, 1 is trot, 2 is trot running, 3 is forward climbing mode, and 4 is reverse climbing mode.
This node can automatically collect data when running the robot. The data will be stored in the /workspace_path/dataset path. Use the following command to run it:
ros2 run create_dataset record_data
This node can read the data from the rosbag. Use the following command to run it:
ros2 run create_dataset read_data /path/to/your/dataset