Go2 ONNX Controller

How to install

1. Follow go2_control_interface install procedure.
2. Then clone this repo in the cyclonedds_ws/src/ directory (next to the go2_control_interface repo for instance)

   cd src  # cd unitree_ros2/cyclonedds_ws/src
   git clone --recurse-submodules [email protected]:inria-paris-robotics-lab/go2_onnx_controller.git

3. Recompile

   cd ../
   colcon build --packages-skip unitree_sdk2_python
   source install/setup.bash

How to run

0. A joystick needs to be plugged in the computer
1. See Go2_control_interface: How to control the robot. Most likely you will run:

   # mamba activate go2_control_interface
   # source install/setup.bash
   # source <(ros2 run go2_control_interface autoset_environment_dds.py SIMULATION)
   ros2 launch go2_simulation launch_sim.launch.py

   to start the simulation.
2. In another terminal:

   # mamba activate go2_control_interface
   # source install/setup.bash
   # source <(ros2 run go2_control_interface autoset_environment_dds.py SIMULATION)
   ros2 launch onnx_controller controller_and_joystick.launch.py