# go2_driver

**Repository Path**: AlEX_2473/go2_driver

## Basic Information

- **Project Name**: go2_driver
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: go2
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2026-01-27
- **Last Updated**: 2026-05-18

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# go2_driver

> Readme generated by GLM-5

Unitree Go2 Robot Driver for ROS2

## Overview

This package provides ROS2 drivers for the Unitree Go2 quadruped robot, including:
- IMU and leg sensor data publishing
- Head camera streaming
- Velocity command control
- Point cloud compression

## Supported ROS2 Versions

- Foxy (Ubuntu 20.04)
- Humble (Ubuntu 22.04)
- Jazzy (Ubuntu 24.04)

## Dependencies

- `rclcpp` - ROS2 C++ client library
- `unitree_go` - Unitree Go message definitions
- `unitree_api` - Unitree API for robot control
- `sensor_msgs` - Sensor message types
- `geometry_msgs` - Geometry message types
- `std_msgs` - Standard message types
- `point_cloud_transport` - Point cloud transport (optional)
- `draco_point_cloud_transport` - Draco point cloud compression (optional)
- OpenCV4 - Image processing

## Build

```bash
cd ~/ros2_ws
colcon build --packages-select go2_driver
```

## Nodes

### lowstate_driver

Publishes IMU and leg sensor data from the robot's LowState messages.

**Parameters:**

| Parameter | Type | Default | Description |
|-----------|------|---------|-------------|
| `imu_enable` | bool | `true` | Enable IMU publishing |
| `leg_sensor_enable` | bool | `false` | Enable leg sensor publishing |
| `imu_topic` | string | `/imu` | IMU topic name |
| `leg_sensor_topic` | string | `/leg_sensor` | Leg sensor topic name |
| `use_sim_time` | bool | `false` | Use simulation time |

**Published Topics:**

- `/imu` (sensor_msgs/Imu) - IMU data
- `/leg_sensor` (go2_driver/LegSensor) - Leg sensor data

### head_camera

Streams head camera video using GStreamer and publishes as ROS2 image topics.

**Parameters:**

| Parameter | Type | Default | Description |
|-----------|------|---------|-------------|
| `pub_camera_raw_enable` | bool | `false` | Enable raw image publishing |
| `pub_camera_compressed_enable` | bool | `false` | Enable compressed image publishing |
| `pub_camera_topic` | string | `/head_camera/image_raw` | Image topic base name |
| `network_interface` | string | `eth0` | Network interface for UDP stream |
| `gst_pipeline` | string | - | GStreamer pipeline string |

**Published Topics:**

- `<topic>_Raw` (sensor_msgs/Image) - Raw image
- `<topic>_Compressed` (sensor_msgs/CompressedImage) - Compressed image

### sportstate_cmd_vel

Converts geometry_msgs/Twist commands to Unitree Sport API requests for robot velocity control.

**Subscribed Topics:**

- `/cmd_vel` (geometry_msgs/Twist) - Velocity command

**Published Topics:**

- `/api/sport/request` (unitree_api/Request) - Sport API request

## Launch Files

### driver.launch.py

Main launch file that starts all driver nodes:

```bash
ros2 launch go2_driver driver.launch.py
```

**Launch Arguments:**

| Argument | Default | Description |
|----------|---------|-------------|
| `use_rviz` | `false` | Launch RViz2 |
| `use_sim_time` | `false` | Use simulation time |

**Includes:**

- lowstate_driver node
- head_camera node
- sportstate_cmd_vel node
- Point cloud compression nodes (utlidar, rslidar)

## Message Types

### LegSensor (go2_driver/LegSensor)

```
uint64 timestamp_ns     # Timestamp in nanoseconds
float32[12] q           # Joint positions
float32[12] dq          # Joint velocities
float32[12] tau         # Estimated joint torques
int16[4] foot_force     # Foot force sensors
float32[4] imu_quaternion   # IMU quaternion [w,x,y,z]
float32[3] imu_gyroscope   # IMU gyroscope data
float32[3] imu_accelerometer # IMU accelerometer data
```

## Configuration Example

```yaml
# config.yaml
/**:
  ros__parameters:
    use_sim_time: false

/lowstate_driver:
  ros__parameters:
    imu_enable: true
    leg_sensor_enable: true
    imu_topic: /imu
    leg_sensor_topic: /leg_sensor

/head_camera:
  ros__parameters:
    pub_camera_raw_enable: true
    pub_camera_compressed_enable: true
    pub_camera_topic: /head_camera/image_raw
    network_interface: eth0
    gst_pipeline: >
      udpsrc address=230.1.1.1 port=1720 multicast-iface=eth0 !
      application/x-rtp,media=video,encoding-name=H264 !
      rtph264depay ! h264parse ! nvv4l2decoder enable-max-performance=1 !
      nvvidconv output-buffers=1 ! video/x-raw,format=BGRx,width=1280,height=720 !
      videoconvert ! video/x-raw,format=BGR ! appsink drop=1 sync=false
```

## Troubleshooting

### Camera stream not opening

Check network interface and firewall settings:
```bash
# Verify network interface
ip addr show eth0

# Check if UDP port 1720 is open
sudo iptables -L -n | grep 1720
```

### IMU data not publishing

Verify LowState topic is being published by the robot:
```bash
ros2 topic hz /lowstate
```

### Point cloud compression issues

Ensure point_cloud_transport and draco_point_cloud_transport are installed:
```bash
sudo apt install ros-${ROS_DISTRO}-point-cloud-transport ros-${ROS_DISTRO}-draco-point-cloud-transport
```

## License

BSD-3-Clause