Does the unitree_api package exist?

[kkjing0414]

Dear author, I'm sorry to bother you again, and thank you very much for your help before. When I ran it, it showed that I could not find the unitree_api package, I would like to ask the author if you have this package on GitHub?

[abizovnuralem]

Hello! Can you please send me a full log of the error?

[abizovnuralem]

How did you clone the repo? Have you done git clone --recurse-submodules https://github.com/abizovnuralem/go2_ros2_sdk.git src ?

[kkjing0414]

[INFO] [launch]: All log files can be found below /home/unitree/.ros/log/2024-10-30-19-39-29-512138-ubuntu-4921 [INFO] [launch]: Default logging verbosity is set to INFO IP list: ['192.168.55.112'] [INFO] [robot_state_publisher-1]: process started with pid [4922] [INFO] [pointcloud_to_laserscan_node-2]: process started with pid [4924] [INFO] [go2_driver_node-3]: process started with pid [4926] [INFO] [lidar_to_pointcloud-4]: process started with pid [4928] [INFO] [rviz2-5]: process started with pid [4930] [INFO] [joy_node-6]: process started with pid [4932] [INFO] [teleop_node-7]: process started with pid [4934] [INFO] [twist_mux-8]: process started with pid [4938] [INFO] [foxglove_bridge-9]: process started with pid [4972] [INFO] [async_slam_toolbox_node-10]: process started with pid [4976] [INFO] [controller_server-11]: process started with pid [4987] [INFO] [smoother_server-12]: process started with pid [4997] [INFO] [planner_server-13]: process started with pid [5002] [INFO] [behavior_server-14]: process started with pid [5016] [INFO] [bt_navigator-15]: process started with pid [5031] [INFO] [waypoint_follower-16]: process started with pid [5033] [INFO] [velocity_smoother-17]: process started with pid [5043] [INFO] [lifecycle_manager-18]: process started with pid [5051] [robot_state_publisher-1] [INFO] [1730288371.214761065] [robot_state_publisher]: got segment FL_calf [robot_state_publisher-1] [INFO] [1730288371.215025023] [robot_state_publisher]: got segment FL_calflower [robot_state_publisher-1] [INFO] [1730288371.215050433] [robot_state_publisher]: got segment FL_calflower1 [robot_state_publisher-1] [INFO] [1730288371.215060802] [robot_state_publisher]: got segment FL_foot [robot_state_publisher-1] [INFO] [1730288371.215069219] [robot_state_publisher]: got segment FL_hip [robot_state_publisher-1] [INFO] [1730288371.215076931] [robot_state_publisher]: got segment FL_thigh [robot_state_publisher-1] [INFO] [1730288371.215085316] [robot_state_publisher]: got segment FR_calf [robot_state_publisher-1] [INFO] [1730288371.215093093] [robot_state_publisher]: got segment FR_calflower [robot_state_publisher-1] [INFO] [1730288371.215101061] [robot_state_publisher]: got segment FR_calflower1 [robot_state_publisher-1] [INFO] [1730288371.215109062] [robot_state_publisher]: got segment FR_foot [robot_state_publisher-1] [INFO] [1730288371.215117255] [robot_state_publisher]: got segment FR_hip [robot_state_publisher-1] [INFO] [1730288371.215124904] [robot_state_publisher]: got segment FR_thigh [robot_state_publisher-1] [INFO] [1730288371.215132712] [robot_state_publisher]: got segment Head_lower [robot_state_publisher-1] [INFO] [1730288371.215140361] [robot_state_publisher]: got segment Head_upper [robot_state_publisher-1] [INFO] [1730288371.215148361] [robot_state_publisher]: got segment RL_calf [robot_state_publisher-1] [INFO] [1730288371.215156362] [robot_state_publisher]: got segment RL_calflower [robot_state_publisher-1] [INFO] [1730288371.215164203] [robot_state_publisher]: got segment RL_calflower1 [robot_state_publisher-1] [INFO] [1730288371.215171883] [robot_state_publisher]: got segment RL_foot [robot_state_publisher-1] [INFO] [1730288371.215179884] [robot_state_publisher]: got segment RL_hip [robot_state_publisher-1] [INFO] [1730288371.215187693] [robot_state_publisher]: got segment RL_thigh [robot_state_publisher-1] [INFO] [1730288371.215195341] [robot_state_publisher]: got segment RR_calf [robot_state_publisher-1] [INFO] [1730288371.215203246] [robot_state_publisher]: got segment RR_calflower [robot_state_publisher-1] [INFO] [1730288371.215211311] [robot_state_publisher]: got segment RR_calflower1 [robot_state_publisher-1] [INFO] [1730288371.215219216] [robot_state_publisher]: got segment RR_foot [robot_state_publisher-1] [INFO] [1730288371.215226832] [robot_state_publisher]: got segment RR_hip [robot_state_publisher-1] [INFO] [1730288371.215234417] [robot_state_publisher]: got segment RR_thigh [robot_state_publisher-1] [INFO] [1730288371.215242674] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1730288371.215250866] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1730288371.215259027] [robot_state_publisher]: got segment front_camera [robot_state_publisher-1] [INFO] [1730288371.215266932] [robot_state_publisher]: got segment imu [robot_state_publisher-1] [INFO] [1730288371.215275412] [robot_state_publisher]: got segment map [robot_state_publisher-1] [INFO] [1730288371.215283061] [robot_state_publisher]: got segment odom [robot_state_publisher-1] [INFO] [1730288371.215290966] [robot_state_publisher]: got segment radar [teleop_node-7] [INFO] [1730288371.184742546] [TeleopTwistJoy]: Linear axis x on 1 at scale 0.200000. [teleop_node-7] [INFO] [1730288371.184899360] [TeleopTwistJoy]: Linear axis y on 3 at scale 0.200000. [teleop_node-7] [INFO] [1730288371.184913665] [TeleopTwistJoy]: Angular axis yaw on 6 at scale 0.200000. [twist_mux-8] [INFO] [1730288371.228989377] [twist_mux]: Topic handler 'topics.joy' subscribed to topic 'cmd_vel_joy': timeout = 0.500000s , priority = 10. [twist_mux-8] [INFO] [1730288371.234469427] [twist_mux]: Topic handler 'topics.navigation' subscribed to topic 'cmd_vel': timeout = 0.500000s , priority = 5. [async_slam_toolbox_node-10] [INFO] [1730288371.272586617] [slam_toolbox]: Node using stack size 40000000 [bt_navigator-15] [INFO] [1730288371.400424485] [bt_navigator]: [bt_navigator-15] bt_navigator lifecycle node launched. [bt_navigator-15] Waiting on external lifecycle transitions to activate [bt_navigator-15] See https://design.ros2.org/articles/node_lifecycle.html for more information.

[waypoint_follower-16] [INFO] [1730288371.513797125] [waypoint_follower]: [waypoint_follower-16] waypoint_follower lifecycle node launched. [waypoint_follower-16] Waiting on external lifecycle transitions to activate [waypoint_follower-16] See https://design.ros2.org/articles/node_lifecycle.html for more information.

[lifecycle_manager-18] [INFO] [1730288371.536271290] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients [async_slam_toolbox_node-10] [INFO] [1730288371.625201117] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver [async_slam_toolbox_node-10] [INFO] [1730288371.643255323] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner. [velocity_smoother-17] [INFO] [1730288371.680852789] [velocity_smoother]: [velocity_smoother-17] velocity_smoother lifecycle node launched. [velocity_smoother-17] Waiting on external lifecycle transitions to activate [velocity_smoother-17] See https://design.ros2.org/articles/node_lifecycle.html for more information. [controller_server-11] [INFO] [1730288371.699994927] [controller_server]: [controller_server-11] controller_server lifecycle node launched. [controller_server-11] Waiting on external lifecycle transitions to activate [controller_server-11] See https://design.ros2.org/articles/node_lifecycle.html for more information. [planner_server-13] [INFO] [1730288371.732355372] [planner_server]: [planner_server-13] planner_server lifecycle node launched. [planner_server-13] Waiting on external lifecycle transitions to activate [planner_server-13] See https://design.ros2.org/articles/node_lifecycle.html for more information. [controller_server-11] [INFO] [1730288371.747956698] [controller_server]: Creating controller server

[foxglove_bridge-9] [INFO] [1730288371.771335324] [foxglove_bridge_component_manager]: Load Library: /opt/ros/humble/lib/libfoxglove_bridge_component.so [foxglove_bridge-9] [INFO] [1730288371.850627948] [foxglove_bridge_component_manager]: Found class: rclcpp_components::NodeFactoryTemplate [foxglove_bridge-9] [INFO] [1730288371.863529428] [foxglove_bridge_component_manager]: Instantiate class: rclcpp_components::NodeFactoryTemplate [smoother_server-12] [INFO] [1730288371.889610396] [smoother_server]: [smoother_server-12] smoother_server lifecycle node launched. [smoother_server-12] Waiting on external lifecycle transitions to activate [smoother_server-12] See https://design.ros2.org/articles/node_lifecycle.html for more information. [smoother_server-12] [INFO] [1730288371.894758097] [smoother_server]: Creating smoother server [behavior_server-14] [INFO] [1730288371.947738630] [behavior_server]: [behavior_server-14] behavior_server lifecycle node launched. [behavior_server-14] Waiting on external lifecycle transitions to activate [behavior_server-14] See https://design.ros2.org/articles/node_lifecycle.html for more information. [foxglove_bridge-9] [INFO] [1730288372.132669210] [foxglove_bridge]: Starting foxglove_bridge (humble, 0.8.0@) with WebSocket++/0.8.2 [pointcloud_to_laserscan_node-2] [INFO] [1730288372.211619514] [pointcloud_to_laserscan]: Got a subscriber to laserscan, starting pointcloud subscriber [foxglove_bridge-9] [INFO] [1730288372.218498371] [foxglove_bridge]: [WS] Server running without TLS [foxglove_bridge-9] [INFO] [1730288372.241328922] [foxglove_bridge]: [WS] WebSocket server listening at ws://0.0.0.0:8765 [foxglove_bridge-9] [INFO] [1730288372.253781438] [foxglove_bridge]: [WS] WebSocket server run loop started [foxglove_bridge-9] [WARN] [1730288372.278594974] [foxglove_bridge]: Failed to add channel for topic "/query_result_node" (unitree_interfaces/msg/QtNode): package 'unitree_interfaces' not found, searching: [/home/unitree/ros2_ws/install/go2_robot_sdk, /home/unitree/ros2_ws/install/unitree_go, /home/unitree/ros2_ws/install/go2_interfaces, /home/unitree/ros2_ws/install/coco_detector, /opt/ros/humble] [foxglove_bridge-9] [WARN] [1730288372.278850388] [foxglove_bridge]: Failed to add channel for topic "/qt_add_node" (unitree_interfaces/msg/QtNode): package 'unitree_interfaces' not found, searching: [/home/unitree/ros2_ws/install/go2_robot_sdk, /home/unitree/ros2_ws/install/unitree_go, /home/unitree/ros2_ws/install/go2_interfaces, /home/unitree/ros2_ws/install/coco_detector, /opt/ros/humble] [foxglove_bridge-9] [WARN] [1730288372.279027139] [foxglove_bridge]: no .msg definition for unitree_go/msg/VoxelMapCompressed, falling back to IDL [foxglove_bridge-9] [WARN] [1730288372.279185425] [foxglove_bridge]: Could not find definition for type unitree_go/msg/VoxelMapCompressed: unitree_go/msg/VoxelMapCompressed [foxglove_bridge-9] [WARN] [1730288372.283666030] [foxglove_bridge]: no .msg definition for unitree_go/msg/ConfigChangeStatus, falling back to IDL [foxglove_bridge-9] [WARN] [1730288372.283953959] [foxglove_bridge]: Could not find definition for type unitree_go/msg/ConfigChangeStatus: unitree_go/msg/ConfigChangeStatus [foxglove_bridge-9] [WARN] [1730288372.284456273] [foxglove_bridge]: Failed to add channel for topic "/qt_add_edge" (unitree_interfaces/msg/QtEdge): package 'unitree_interfaces' not found, searching: [/home/unitree/ros2_ws/install/go2_robot_sdk, /home/unitree/ros2_ws/install/unitree_go, /home/unitree/ros2_ws/install/go2_interfaces, /home/unitree/ros2_ws/install/coco_detector, /opt/ros/humble] [foxglove_bridge-9] [WARN] [1730288372.284645985] [foxglove_bridge]: Failed to add channel for topic "/arm_Command" (unitree_arm/msg/ArmString): package 'unitree_arm' not found, searching: [/home/unitree/ros2_ws/install/go2_robot_sdk, /home/unitree/ros2_ws/install/unitree_go, /home/unitree/ros2_ws/install/go2_interfaces, /home/unitree/ros2_ws/install/coco_detector, /opt/ros/humble] [foxglove_bridge-9] [WARN] [1730288372.284777293] [foxglove_bridge]: Failed to add channel for topic "/api/vui/request" (unitree_api/msg/Request): package 'unitree_api' not found, searching: [/home/unitree/ros2_ws/install/go2_robot_sdk, /home/unitree/ros2_ws/install/unitree_go, /home/unitree/ros2_ws/install/go2_interfaces, /home/unitree/ros2_ws/install/coco_detector, /opt/ros/humble] [foxglove_bridge-9] [WARN] [1730288372.284883222] [foxglove_bridge]: Failed to add channel for topic "/api/videohub/response" (unitree_api/msg/Response): package 'unitree_api' not found, searching: [/home/unitree/ros2_ws/install/go2_robot_sdk, /home/unitree/ros2_ws/install/unitree_go, /home/unitree/ros2_ws/install/go2_interfaces, /home/unitree/ros2_ws/install/coco_detector, /opt/ros/humble] [foxglove_bridge-9] [WARN] [1730288372.285327868] [foxglove_bridge]: Failed to add channel for topic "/api/uwbswitch/response" (unitree_api/msg/Response): package 'unitree_api' not found, searching: [/home/unitree/ros2_ws/install/go2_robot_sdk, /home/unitree/ros2_ws/install/unitree_go, /home/unitree/ros2_ws/install/go2_interfaces, /home/unitree/ros2_ws/install/coco_detector, /opt/ros/humble] [foxglove_bridge-9] [WARN] [1730288372.285479464] [foxglove_bridge]: Failed to add channel for topic "/qt_command" (unitree_interfaces/msg/QtCommand): package 'unitree_interfaces' not found, searching: [/home/unitree/ros2_ws/install/go2_robot_sdk, /home/unitree/ros2_ws/install/unitree_go, /home/unitree/ros2_ws/install/go2_interfaces, /home/unitree/ros2_ws/install/coco_detector, /opt/ros/humble] [foxglove_bridge-9] [WARN] [1730288372.285880843] [foxglove_bridge]: Failed to add channel for topic "/api/sport_lease/response" (unitree_api/msg/Response): package 'unitree_api' not found, searching: [/home/unitree/ros2_ws/install/go2_robot_sdk, /home/unitree/ros2_ws/install/unitree_go, /home/unitree/ros2_ws/install/go2_interfaces, /home/unitree/ros2_ws/install/coco_detector, /opt/ros/humble] [foxglove_bridge-9] [WARN] [1730288372.286033752] [foxglove_bridge]: Failed to add channel for topic "/api/sport_lease/request" (unitree_api/msg/Request): package 'unitree_api' not found, searching: [/home/unitree/ros2_ws/install/go2_robot_sdk, /home/unitree/ros2_ws/install/unitree_go, /home/unitree/ros2_ws/install/go2_interfaces, /home/unitree/ros2_ws/install/coco_detector, /opt/ros/humble] [foxglove_bridge-9] [WARN] [1730288372.288785730] [foxglove_bridge]: Failed to add channel for topic "/api/sport/response" (unitree_api/msg/Response): package 'unitree_api' not found, searching: [/home/unitree/ros2_ws/install/go2_robot_sdk, /home/unitree/ros2_ws/install/unitree_go, /home/unitree/ros2_ws/install/go2_interfaces, /home/unitree/ros2_ws/install/coco_detector, /opt/ros/humble] [foxglove_bridge-9] [WARN] [1730288372.289023670] [foxglove_bridge]: Failed to add channel for topic "/api/robot_state/response" (unitree_api/msg/Response): package 'unitree_api' not found, searching: [/home/unitree/ros2_ws/install/go2_robot_sdk, /home/unitree/ros2_ws/install/unitree_go, /home/unitree/ros2_ws/install/go2_interfaces, /home/unitree/ros2_ws/install/coco_detector, /opt/ros/humble] [foxglove_bridge-9] [WARN] [1730288372.289172675] [foxglove_bridge]: Failed to add channel for topic "/api/sport/request" (unitree_api/msg/Request): package 'unitree_api' not found, searching: [/home/unitree/ros2_ws/install/go2_robot_sdk, /home/unitree/ros2_ws/install/unitree_go, /home/unitree/ros2_ws/install/go2_interfaces, /home/unitree/ros2_ws/install/coco_detector, /opt/ros/humble]

[kkjing0414]

I did a git clone - recurse - submodules https://github.com/abizovnuralem/go2_ros2_sdk.git SRC. To be honest, this error did not affect my running robot.launch.py, but my dog's path to the target point was S-shaped and sometimes drew circles around the target point. At the same time, the plane of my drawing is not 3D, I do not know whether this is normal?

[kkjing0414]

There is another problem, if I open the map a day ago, my dog always can't find the correct position of his own, the new map is more accurate, I would like to ask if this has something to do with the time, the location of the objects in my field has not changed.

[kkjing0414]

[kkjing0414]

My dog has a drifting problem. Have you ever had one？

[abizovnuralem]

You should configure your nav2 params, I think some of the control issues (delays of the network and etc)