ROS2与Unitree机器人集成指南

Tested systems and ROS2 distro

systems	ROS2 distro
Ubuntu 20.04	foxy
Ubuntu 22.04	humble

src目录上级才可以colcon build

git clone https://github.com/unitreerobotics/unitree_ros2

Install Unitree ROS2 package

1. Dependencies

sudo apt install ros-humble-rmw-cyclonedds-cpp
sudo apt install ros-humble-rosidl-generator-dds-idl

2. Compile cyclone dds

The cyclonedds version of Unitree robot is 0.10.2. To communicate with Unitree robots using ROS2, it is necessary to change the dds implementation. See：About different ROS 2 DDS/RTPS vendors — ROS 2 Documentation: Foxy docu