staycoolish
commented
2 years ago When I downloaded the files, I changed the names of the folders: I made unitree_legged_sdk-3.2 as unitree_legged_sdk , and unitree_ros_to_real-3.2.1 as unitree_ros_to_real . Don't do this. When I leave the names unchanged, it compiled without any problems. BUT don't do this either. My main mistake was that, I included the folder unitree_ros_to_real-3.2.1 in catkin_ws/src, but what I should've done was to include the folders inside the folder unitree_ros_to_real-3.2.1 , namely unitree_legged_msgs and unitree_legged_real. The same applies to unitree_ros as well.
1. Just put unitree_legged_sdk-3.2 and the folders inside unitree_ros_to_real-3.2.1 (unitree_legged_msgs and unitree_legged_real) into catkin_ws 2. Write those stuff into bashrc
source /opt/ros/melodic/setup.bash
source /usr/share/gazebo-8/setup.sh
source ~/catkin_ws/devel/setup.bash
export ROS_PACKAGE_PATH=~/catkin_ws:${ROS_PACKAGE_PATH}
export GAZEBO_PLUGIN_PATH=~/catkin_ws/devel/lib:${GAZEBO_PLUGIN_PATH}
export LD_LIBRARY_PATH=~/catkin_ws/devel/lib:${LD_LIBRARY_PATH}
# 3_1, 3_2
export UNITREE_SDK_VERSION=3_2
export UNITREE_LEGGED_SDK_PATH=~/catkin_ws/src/unitree_legged_sdk-3.2
export ALIENGO_SDK_PATH=~/aliengo_sdk
# amd64, arm32, arm64
export UNITREE_PLATFORM="amd64"3. build unitree legged sdk 4. catkin_make
UPDATE ( SUMMARY OF THE PROBLEM)
legged_messages, which I've built before unitree_legged_real, is not seen by ROS for some reason. Actually, as you can see, the message type is installed:
but when I catkin_make , the message is not seen (it does not have member pitch for instance, according to the error, but it has that member (see the above image).
Hello, I am trying to connect A1 to ROS (Noetic) (and I also want to simulate A1 in Gazebo later). I've done the following:
I downloaded unitree_legged_sdk version 3.2; put it into catkin_ws/src; and then built it.
I downloaded unitree_ros_to_real version 3.2.1; put it into catkin_we/src. I then built unitree_legged_msgs. Then I try to build unitree_legged_real or try to catkin_make, but I always get this error:
What is wrong? What is the right way to build this environment?
I appreciate any help. If there is any tutorial on this, I would like to check it as well. I tried everything (in bashrc., all the variables are defined, which are:
What is wrong is a mystery to me. Thank you.