unitree_ros2/
├── cyclonedds_ws
├── planner_in_go2
└── unitree_ros2_setup.sh
unitree_ros2/planner_in_go2/src
├── include/
├── launch/ # api request encoder
├── scripts/ # py node
├── src/ # cpp node
├── model/ # py planner module
├── utils/ # py utils
├── CMakeLists.txt
└── package.xml
# 1. build cyclonedds_ws, follow: https://support.unitree.com/home/zh/developer/ROS2_service
# 2. build lidar xt16 driver, follow https://github.com/HesaiTechnology/HesaiLidar_General_ROS/tree/ROS2
# 3. build customized planner
source unitree_ros2_setup.bash
cd planner_in_go2
colcon build
NOTE: if you use conda, should first run conda deactivate
for the python version problem
cd ~/unitree_ros2/planner_in_go2
source ./install/local_setup.bash
ros2 run planner_in_go2 <NodeName>
python3 ./install/
run nodes from launch file :
ros2 launch planner_in_go2 MLplanner.launch.py # param1:=5 param2:=6
check whole the topic :
ros2 topic list
ros2 topic echo /MLplanner/xxx