Unitree_slam ROS workspace

Branch decription

In this repository we have three main branches: main, unitree_realsense_slam_release and xavier-arm.

• Branch main contains all the work related to the realsense and lidar slam.
• Branch unitree_realsense_slam_release is a copy of the main branch, but doesn't content the work related to a lidar slam.
• Branch xavier-arm is a slightly changed copy of the main branch able to be built on ARM platform (Xavier).

Dependencies

• ros melodic
• unitree_legged_sdk
• unitree_ros (for sim only)
• realsense_ros_gazebo (for sim only)
• rtabmap_ros
• realsense2_camera
• move_base sudo apt install ros-melodic-move-base
• depthimage_to_laserscan

~/.bashrc :

source /opt/ros/melodic/setup.bash
source /usr/share/gazebo-9/setup.sh
export UNITREE_SDK_VERSION=3_2
export UNITREE_LEGGED_SDK_PATH=~/unitree_legged_sdk
export UNITREE_PLATFORM="amd64"

How to use

Real robot

roslaunch realsense_slam unitree_real.launch

Simulation

roslaunch realsense_slam unitree_sim.launch

Known issues

• The 'Enter' key needs to be pressed in the launchfile termianal in order for it to start sending data.