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Install Unitree-SDK

Refer to the Unitree Documentation Center | Application Development.

  1. Download unitree_sdk2.
  2. Copy scripts/turn_off_arm_action_service.cpp to unitree_sdk2/example/g1/high_level/.
  3. Modify unitree_sdk2/example/g1/CMakeLists.txt accordingly.
  4. Build and install unitree_sdk2.

Install Unitree-ROS2

  1. Refer to the Unitree Documentation Center | ROS2 Communication Routine to install and build unitree_ros2.

  2. Open ~/unitree_ros2/setup.sh and change "enp3s0" to "eth0":

export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
                            <NetworkInterface name="eth0" priority="default" multicast="default" />
                        </Interfaces></General></Domain></CycloneDDS>'

Download the Unitree G1 URDF

Download the official model g1-description for IK computation.

Open brainco_ws/src/control_py/control_py/state_manager/robot_control.py and modify the arm_urdf_path path.

Install BrainCo SDK and Control System

cd ~
git clone https://github.com/BrainCoTech/unitree-g1-brainco-hand.git

Set executable permissions:

cd ~/unitree-g1-brainco-hand/brainco_ws
chmod +x ./launch/launch_trans.sh
chmod +x ./launch/launch_robot.sh

Install the BrainCo SDK library files:

cd ~/unitree-g1-brainco-hand/ros2_stark_ws
chmod +x download-lib.sh
./download-lib.sh
mkdir src/ros2_stark_controller_new/lib
mv dist/shared/linux/libbc_stark_sdk.so src/ros2_stark_controller_new/lib/libbc_stark_sdk.so

Set Up Hand Control Parameters

Modify params_revo2_left.yaml and params_revo2_right.yaml under ros2_stark_ws/src/ros2_stark_controller_new/config/:

  • port: The serial ports for the left and right hands, corresponding to the two signal ports on the USB-to-485 board.
  • baudrate: The default baud rate for Revo2 is 460800.
  • slave_id: The default is 0x7e for the left hand and 0x7f for the right hand.

Build the Workspaces

conda activate g1brainco
# Build brainco_ws
cd ~/unitree-g1-brainco-hand/brainco_ws
python -m colcon build
# Build ros2_stark_ws
cd ~/unitree-g1-brainco-hand/ros2_stark_ws
python -m colcon build