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legubiao / quadruped_ros2_control

ROS2-Control implementations for Quadruped robots
Apache License 2.0
65 stars 8 forks source link

Building error on Ubuntu 20.04 with ROS2 Galastic #7

Closed xander-2077 closed 2 days ago

xander-2077 commented 3 days ago

This is a fun project! But has anyone tried to build this project on Ubuntu 20.04 with ROS2 Galastic?

legubiao commented 2 days ago

I don't recommend using ROS2 Galastic with unitree_sdk2, since the default DDS for Galastic is CyloneDDS and it has some problem with unitree_sdk2. Now I'm testing the project under ros2 Foxy, later I 'll create a new branch for foxy.

xander-2077 commented 2 days ago

Thanks for your rapid response! I have built unitree_ros2 before. It seems that the unitree_ros2 replaces the default DDS with an older version. Looking forward to your new branch!

legubiao commented 2 days ago

I just check the project under Ubuntu 20.04, seems that ros2-control framework has a quiet large gap between foxy and humble. The project code needs many modifications to fit foxy. Right now, I'm still focusing on the development of new controllers, so I don't have enough time for foxy branch recently. If you have interest, you can try to fork your own foxy version.

xander-2077 commented 2 days ago

Get it! It seems that the ubuntu 22.04 is the better choice. Thank you!