Unitree go2, go1 simulation in Gazebo Sim

This repository allows you to run dog robots in the GAZEBO simulator. The robot can walk, rotate with 12 degrees of freedom, and features a robot_msgs interface. The robot moves using inverse kinematics, and its odometry is based on direct kinematics. Additionally, all functionalities are developed in Python.

Go2 LiDAR and SLAM additions

This fork adds a Gazebo GPU LiDAR to the Go2 model (16 vertical channels, 440 horizontal samples at 10 Hz) and bridges its point cloud into ROS 2. The multi-robot launch bridges each robot's LiDAR topic. A single-robot launch starts KISS-ICP, and a separate launch starts the RTAB-Map 3D LiDAR example.

Install the ROS packages kiss-icp and rtabmap_examples for the corresponding mapping launches. After building the workspace and sourcing install/local_setup.bash, run the simulator with KISS-ICP using:

ros2 launch gazebo_sim launch_sim.launch.py

For RTAB-Map with the robot1 point cloud, run in a separate sourced terminal:

ros2 launch gazebo_sim rtabmap_lidar3d_robot1.launch.py

The LiDAR point cloud is published under /robot1/velodyne_points/points. The upstream project does not declare a repository-wide license; see its original repository for provenance.

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Run from docker

Note: BUILDED AND TESTED WITH NVIDIA GPU.

setup docker, docker compose and nvidia container toolkit

docker install

nvidia-container-toolkit

build docker :

mkdir -p ~/go_sim/src
cd ~/go_sim/src/docker
docker compose -f compose.yml build simulator
xhost +local:docker
docker compose -f compose.yml up simulator

Run from source

Note: BUILDED AND TESTED FROM ROS2 JAZZY, UBUNTU 22.04.

Note: Before launching, ensure that you install all dependencies and build the project using colcon build.

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Setup and Installation

Clone the Repository and Build

mkdir -p ~/go_sim/src
cd ~/go_sim/src
git clone https://github.com/abutalipovvv/go_sim_py.git .
cd ..
colcon build --symlink-install

Install Dependencies

cd ~/go_sim
rosdep update
rosdep install --from-paths src --ignore-src -r -y

Environment Configuration

Export Gazebo Models Path

Before running the simulation, export the path to your Gazebo models:

export GZ_SIM_RESOURCE_PATH=~/go_sim/src/gazebo_sim/models

(Replace with the correct path to your models.)

Configure CycloneDDS

To support multiple topics, configure CycloneDDS by creating a configuration file (e.g., cyclonedds.xml) with the following content:

<CycloneDDS>
  <Domain>
    <General>
      <Interfaces>
        <NetworkInterface name="lo" multicast="true" />
      </Interfaces>
      <DontRoute>true</DontRoute>
    </General>
    <Discovery>
      <ParticipantIndex>auto</ParticipantIndex>
      <MaxAutoParticipantIndex>100</MaxAutoParticipantIndex>
    </Discovery>
  </Domain>
</CycloneDDS>

Then, set the environment variable to point to this file:

export CYCLONEDDS_URI=file://path_to_cyclonedds.xml

(Replace path_to_cyclonedds.xml with the actual file path.)

Running the Simulation

#Navigate to the project directory:

cd ~/go_sim

#Source the environment setup:

source install/local_setup.bash

#Launch the simulation:

ros2 launch gazebo_sim launch.py

Controlling the Robot

Moving the Robot

The robot moves by publishing velocity commands to the <robot_namespace>/cmd_vel topic. By default, the robot is named robot1.

Example using teleop_twist_keyboard:

source install/local_setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/robot1/cmd_vel

Robot Modes

The robot supports several modes:

REST – Default position in which the robot cannot move.
STAND – Mode in which the robot can rotate in place.
TROT – Walking mode.

The robot operates with 12 degrees of freedom. To enable rotation, switch the mode to "STAND" by publishing to the robot_mode topic.

Example (for a robot with namespace robot1):

ros2 topic pub /robot1/robot_mode quadropted_msgs/msg/RobotModeCommand "{mode: 'STAND', robot_id: 1}"

After switching modes, control the robot using velocity commands:

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/robot1/cmd_vel

Changing Robot Behavior

The robot can sit and stand using the robot_behavior_command service.

Example command:

ros2 service call /robot1/robot_behavior_command quadropted_msgs/srv/RobotBehaviorCommand "{command: 'walk'}"

Possible commands:

walk – The robot stands up (REST) and can walk (TROT).
up – The robot stands up (REST) and locks movement.
sit – The robot sits down (STAND).

Multi-Robot Setup and Model Switching

Changing Robot Models

You can change between robot models (e.g., go2, go1) in gazebo_multi_nav2_world.launch.py file 102 str:

for go2: use "go2_description" for go1: use "go1_description"

Running Multiple Robots Simultaneously

The repository supports simultaneous operation of multiple robots. Each robot has access to nav2. In the robot.config file, add the robot’s namespace and spawn coordinates in the world.

NAV2 work demonstration:

Credits, thaks for all

mike4192: (SpotMicro)[https://github.com/mike4192/spotMicro]
Unitree Robotics: (A1 ROS)[https://github.com/unitreerobotics/a1_ros]
QUADRUPED ROBOTICS: (Quadruped)[https://quadruped.de]
lnotspotl: (GitHub)[https://github.com/lnotspotl]
anujjain-dev: (Unitree-go2 ROS2)[https://github.com/anujjain-dev/unitree-go2-ros2]

TODO

Add Gazebo Classic support (physics and inertial parameters for URDF).
Perform odometry calibration