# unitree_ros2_rs

**Repository Path**: AlEX_2473/unitree_ros2_rs

## Basic Information

- **Project Name**: unitree_ros2_rs
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-08-30
- **Last Updated**: 2025-09-23

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 非官方的宇树ROS2 Rust的实现

## 生效 `unitree_ros2`

```bash
source ./env.sh
```

## 编译 `unitree_pkgs`

```bash
cd unitree_pkgs
colcon build --packages-select unitree_api unitree_go
```

```bash
source install/setup.bash
```

## TODO List

- [x] 实现运动控制
- [x] 实现避障开/关
- [x] 实现vui
<!-- - [ ] lowlevel stand demo 【failed】 -->
- [x] sportmodestate demo
- [ ] lidar control
- [x] tokio

## examples

[cmd_vel](examples/cmd_vel_demo.rs)
[high_level_state](examples/high_level_state.rs)
[obsavoid](examples/obsavoid_demo.rs)
[odom](examples/odom_demo.rs)
[euler_demo](examples/sport_euler_demo.rs)
[blink](examples/vui_blink.rs)

## colcon 用法

参考: <https://gitee.com/AlEX_2473/ros2_cookbook/tree/master/chapt4/demo_rs_service>