HURo: HuCeBot Unitree Robot Interface

Installation

Docker

We provide utility scripts to build and run the HURo docker image in the docker folder:

cd docker

To build the docker image:

cd docker && ./build.sh

To launch a docker container (first or subsequent instances):

./run.sh

Usage

Until now, HURo has been tested on the Unitree G1 humanoid and Unitree Go2 quadruped robots. It supports deployment both on hardware and on a MuJoCo simulation.

Workspace preparation

To build the workspace code and examples, launch an interactive container session:

cd docker && ./run.sh

Then build with colcon:

colcon build

HURo supports seamless simulation (MuJoCo) and real robot deployment. This is achieved by selecting the appropriate network interface and setting it up on CycloneDDS.

Simulation deployment

In each docker terminal source the setup_uri script and pass lo (loopback) as an argument:

docker> source setup_uri.sh lo

Run the root, simulation and rviz node:

ros2 launch huro ROBOT_sim.launch.py

replacing robot with either "g1" or "go2".

Robot deployment (Ethernet only for now)

Set up a wired connection with the following:

IP address: 192.168.123.222 (static)
Netmask: 24
Gateway: 192.168.123.1

Check the available network interfaces and note down your ethernet interface by running:

ip a

In each docker terminal source the setup_uri script and pass the ethernet interface name as an argument:

docker> source setup_uri.sh ETH_INTERFACE

Run the root, and rviz node:

ros2 launch huro ROBOT_rviz.launch.py

If you are connected to a robot, this will open up an RViz window that updates joint and floating base position as these move.