Unitree¶

unitree_sdk2 hardware interface plugin.

Repository: fiveages-sim/unitree-ros2-control · README

Plugin: unitree_ros2_control/HardwareUnitree (the README XML still shows a former hardware_unitree_sdk2/… name; use the pluginlib class). No on_set_parameters.

That README’s launch examples use hardware:=unitree_sim / unitree_real with robot:=unitree_g1. README xacro shows domain and network_interface. The rest of the table is from HardwareUnitree::on_init.

How to read Startup only / Runtime: Hardware Interfaces.

Parameters¶

All rows in this table are Startup only.

Parameter	Type / default	Meaning
`domain`	int / `1`	unitree_sdk2 domain
`network_interface`	string / `"lo"`	NIC (`lo` in sim)
`robot_type`	string / `"quadruped"` (source; not in README)	Factory key: `quadruped`, `humanoid`, `humanoid_arm_sdk`, `g1_arm_sdk`
`enable_high_state`	bool / `true` (source; not in README)	High-state read (sim)
`show_foot_force`	bool / `false` (source; not in README)	Log foot force
`default_kp`	double / `0.0` (source; not in README)	Initial joint kp command
`default_kd`	double / `0.0` (source; not in README)	Initial joint kd command