Skip to content

Subscribe to the standard ROS2 cmd_vel topic (geometry_msgs/Twist) and convert velocity commands into motion control commands for the Unitree robot #21

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Open
Wuhall wants to merge 1 commit into
base: master
Choose a base branch
from
Open

Subscribe to the standard ROS2 cmd_vel topic (geometry_msgs/Twist) and convert velocity commands into motion control commands for the Unitree robot #21

Wuhall wants to merge 1 commit into from

Conversation

@Wuhall
Copy link

@Wuhall Wuhall commented Dec 11, 2025

  1. Build the project (if not already built):

    source ~/unitree_ros2/setup.sh  # or setup_local.sh
cd ~/unitree_ros2/example
colcon build

  2. Run the node:

    source install/setup.bash
./install/unitree_ros2_example/bin/cmd_vel_subscriber

  3. Test by publishing a cmd_vel command:

    ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.3, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.2}}"

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

No reviews

Assignees

No one assigned

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

1 participant

@Wuhall