mc_unitree2

Interface between Unitree robots and mc_rtc. Provides connectivity with Go2 robots.

1. Required dependencies

• mc_rtc
• unitree_sdk2

2. Install dependencies

unitree_sdk2

• Install the include files

$ git clone https://github.com/unitreerobotics/unitree_sdk2
$ mkdir build
$ cmake ..
$ make ; make install

3. Install this project

Build instructions

$ cd src
$ git clone https://github.com/mc_unitree2
$ mkdir build
$ cd build
$ cmake ..
$ make ; make install

4. Usage

Configuration

There is an example in etc/ which content can be added to mc_rtc's config file to override the default values of this repository.
The network interface is loopback ("lo") by default for simulation, but can be replace by your ethernet interface (check ifconfig) for deployment.

Running the program

$ MCControlUnitree --conf <install path/etc/mc_unitree/mc_rtc.yaml> --network <name of network adaptor>

# Interface specific parameters (mc_unitree)
Unitree:
  network-interface: # Name of network adaptor