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Unitree ROS2

Source: https://github.com/unitreerobotics/unitree_ros2 Fetched: 2026-02-13 Type: GitHub Repository README

Unitree ROS2 Support Overview

Project Description

This repository provides ROS2 integration for Unitree quadruped robots. The implementation leverages CycloneDDS, which serves as both the Unitree SDK2 communication backbone and ROS2's middleware, enabling "direct use of ROS2 messages for robot control without SDK wrapping."

Supported Platforms

Robots: Go2, B2, H1 Operating Systems & ROS2 Versions:

  • Ubuntu 20.04 with ROS2 Foxy
  • Ubuntu 22.04 with ROS2 Humble (recommended)

Repository Structure

The workspace contains three main components:

  1. cyclonedds_ws: Houses ROS2 message definitions split between unitree_go and unitree_api packages
  2. example/src: Contains implementation examples for state reading and motor control
  3. Configuration scripts: setup.sh, setup_local.sh, and setup_default.sh for environment initialization

Key Installation Steps

Installation involves three phases: dependency installation, CycloneDDS compilation (unnecessary for Humble), and package compilation using colcon.

Critical dependency: "The cyclonedds version of Unitree robot is 0.10.2," requiring specific middleware configuration rather than default ROS2 installations.

Communication Topics

State acquisition occurs through topic subscriptions:

  • /sportmodestate or /lf/sportmodestate: Position, velocity, foot coordinates, gait information
  • /lowstate or /lf/lowstate: Motor states, IMU data, power information, force sensors
  • /wirelesscontroller: Remote control input values

Robot control uses publisher patterns:

  • /api/sport/request: High-level locomotion commands via SportClient interface
  • /lowcmd: Direct motor torque, position, and velocity commands

Example Applications

The repository includes executable examples demonstrating state acquisition and control:

  • Motion state monitoring
  • Low-level sensor data collection
  • Wireless controller input handling
  • Motor control demonstrations
  • ROS bag recording examples

Visualization Support

The project supports RViz2 integration for sensor visualization, demonstrated with LiDAR point cloud display using frame transformations.