Unitree Go1
Quadruped Startup
Dog ROS2 Startup Instructions
Coming soon
Static Transforms
For the old dog hardware, use the following static transforms in minimal_startup_ground/launch/transforms.launch.py
("unitree", "go1"): {
"gps": {
"xyz": (
0.0643814362384293,
0.0592539620078344,
0.152324955289927,
),
"rpy": (0.0, 0.0, 0.0),
},
"imu": {
"xyz": (
0.246544261742116,
0.000833506556606053,
0.160178601155877,
),
"rpy": (
0.0,
3.141592653589793,
0.0,
),
},
"lidar": {
"xyz": (
0.212636626493108,
0.00104806745515145,
0.116780107191393,
),
"rpy": (0.0, 0.0, 0.0),
},
"zed": {
"xyz": (
0.204953137519962,
0.0010480674551517,
0.173346896330377,
),
"rpy": (
0.0,
0.2617993877991494,
0.0,
),
},
},