Unitree H1 ROS 2 SDK

ROS 2 Humble SDK for the Unitree H1 humanoid robot with Gazebo simulation and high-level motion control.

Features

• H1 Robot Description: Complete URDF model with all 19 controllable joints
• Gazebo Simulation: Ignition Gazebo (Fortress) integration with physics simulation
• High-Level Control: Velocity-based motion control with walking modes
• Keyboard Teleoperation: Control the robot with keyboard commands
• Joystick Support: Gamepad/joystick teleoperation

Prerequisites

• Ubuntu 22.04
• ROS 2 Humble
• Ignition Gazebo Fortress (ros-humble-ros-gz)

Installation

# Clone the repository
git clone https://github.com/YasiruDEX/unitree-h1-ros-sdk.git
cd unitree-h1-ros-sdk

# Build the workspace
./ros2_launch.sh build

Usage

Quick Start - Simplified Launch Script

The ros2_launch.sh script handles all environment setup automatically:

# Launch Gazebo simulation
./ros2_launch.sh gazebo

# Launch keyboard teleoperation (in another terminal)
./ros2_launch.sh teleop

# Launch full simulation with control system
./ros2_launch.sh full

# Build the workspace
./ros2_launch.sh build

Available Commands

Command	Description
./ros2_launch.sh gazebo	Launch Gazebo simulation with H1 robot
./ros2_launch.sh gazebo --no-rviz	Launch without RViz
./ros2_launch.sh teleop	Launch keyboard teleoperation
./ros2_launch.sh control	Launch high-level control node
./ros2_launch.sh full	Launch Gazebo + control + bridge
./ros2_launch.sh build	Build the workspace
./ros2_launch.sh topic list	List ROS 2 topics
./ros2_launch.sh node list	List ROS 2 nodes

Keyboard Teleoperation Controls

Movement:
  W/S - Forward/Backward
  A/D - Strafe Left/Right
  Q/E - Turn Left/Right

Speed Control:
  Z/X - Increase/Decrease linear speed
  C/V - Increase/Decrease angular speed

Mode Control:
  1 - Idle Mode
  2 - Walk Mode
  3 - Trot Gait
  4 - Running Gait
  5 - Recovery Mode

SPACE - Emergency Stop
ESC   - Quit

Package Structure

unitree-h1-ros-sdk/
├── ros2_launch.sh          # Simplified launch script
├── src/
│   ├── h1_control/         # High-level motion control
│   │   ├── scripts/
│   │   │   ├── high_level_control.py    # Main controller
│   │   │   ├── keyboard_teleop.py       # Keyboard control
│   │   │   ├── joystick_teleop.py       # Gamepad control
│   │   │   └── gazebo_sim_controller.py # Gazebo bridge
│   │   ├── config/
│   │   │   └── control_params.yaml      # Control parameters
│   │   └── launch/
│   │       └── simulation_control.launch.py
│   │
│   ├── h1_gazebo/          # Gazebo simulation
│   │   ├── launch/
│   │   │   └── h1_gazebo.launch.py
│   │   ├── worlds/
│   │   │   └── h1_world.sdf
│   │   └── config/
│   │
│   └── robots/             # Robot descriptions
│       └── h1_description/
│           ├── urdf/h1.urdf
│           └── meshes/

ROS 2 Topics

Subscribed (Control Input)

• /cmd_vel (geometry_msgs/Twist) - Velocity commands
• /h1/mode (std_msgs/Int32) - Robot mode
• /h1/gait_type (std_msgs/Int32) - Gait type

Published (Status)

• /h1/robot_state (std_msgs/String) - Robot state JSON
• /joint_states (sensor_msgs/JointState) - Joint positions

Robot Modes

Mode	Name	Description
0	IDLE	Default standing position
1	FORCED_STAND	Lock position
2	WALK	Walking locomotion
3	STAND_DOWN	Lower to ground
4	STAND_UP	Rise to standing
5	DAMPING	Compliant mode
6	RECOVERY	Recovery from fall

Gait Types

Gait	Name	Description
0	IDLE	No movement
1	TROT	Standard walking
2	TROT_RUNNING	Fast walking
3	CLIMB_STAIR	Stair climbing
4	TROT_OBSTACLE	Obstacle traversal

Troubleshooting

Network Interface Error (CycloneDDS)

If you see errors like "enp7s0: does not match an available interface", the launch script automatically uses FastRTPS middleware to avoid this issue.

Conda Conflicts

The launch script uses a clean environment to avoid conda Python conflicts with ROS 2.

Gazebo Not Starting

Ensure you have the Ignition Gazebo packages installed:

sudo apt install ros-humble-ros-gz

License

Apache License 2.0

Acknowledgments

• Unitree Robotics for the H1 robot
• unitree_ros for original robot descriptions