Unitree Low Level and ROS Low Level Control from Windows with Docker

gistfile1.txt

# From Windows terminal
docker run -p 6080:80 --shm-size=512m --name ros_go1 -d tiryoh/ros-desktop-vnc:melodic

# Access the instance through the url
http://localhost:6080

# From home directory in Docker
mkdir -p catkin_ws/src

# Go into catkin workspace
cd catkin_ws/src

# Clone legged SDK for Go1
git clone -b v3.8.0 https://github.com/unitreerobotics/unitree_legged_sdk

# Build for low level
cd unitree_legged_sdk && mkdir build && cd build && cmake .. && make

# Put Go1 into low level mode
# L2 + A
# L2 + A
# L2 + B
# L1 + L2 + Start

# Suspend Go1 on a rack
./example_position

# Now ROS low level example
cd ~/catkin_ws/src && git clone https://github.com/unitreerobotics/unitree_ros_to_real

# Build
cd ~/catkin_ws && catkin_make

# Source setup.bash
source ~/catkin_ws/devel/setup.bash

# Launch the low level node
roslaunch unitree_legged_real real.launch ctrl_level:=lowlevel

# Open a new terminal and source setup.bash (or add to bashrc)
source ~/catkin_ws/devel/setup.bash

# Run the low level example
rosrun unitree_legged_real example_position