Unitree z1 로봇 팔 환경 설정 및 구동 테스트

 

1.Environment

Laptop H.W

• CPU : i7
• GPU : GTX 1650
• RAM : 16GB

OS

• Ubuntu : 20.04
• ROS : ROS1 Noetic

---

• Source
• https://github.com/unitreerobotics/z1_ros

GitHub - unitreerobotics/z1_ros: ros package for z1 simulation

• https://github.com/unitreerobotics/z1_ros/blob/noetic/doc/usage.md

---

2. Setup [PC]

Dependencies

• gcc-7 or newer
• libboost-all-dev
• libeigen3-dev
• liburdfdom-dev

sudo apt install -y libboost-all-dev libeigen3-dev liburdfdom-dev sudo ln -s /usr/include/eigen3/Eigen /usr/local/include/Eigen sudo ln -s /usr/include/eigen3/unsupported /usr/local/include/unsupported

• Moveit

sudo apt install -y ros-noetic-moveit-* 
sudo apt install -y ros-noetic-joint-trajectory-controller ros-noetic-trac-ik-kinematics-plugin

• Pinocchio
  💡 If you want to install Python interface, please check the official page.

# Install pinocchio

git clone --recursive https://github.com/stack-of-tasks/pinocchio

cd pinocchio && mkdir build && cd build

cmake .. \
  -DCMAKE_BUILD_TYPE=Release \
  -DCMAKE_INSTALL_PREFIX=/usr/local \
  -DBUILD_PYTHON_INTERFACE=OFF \
  -DBUILD_TESTING=OFF 

make

sudo make install

• ~/.bashrc
  • Configure Path, add those lines to ~/.bashrc

  export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH
  export CMAKE_PREFIX_PATH=/usr/local:$CMAKE_PREFIX_PATH
  export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH
  

• pybind11
  💡 If you want to use python interface, please execute the following commands.

# Install pybind11

git clone https://github.com/pybind/pybind11.git

cd pybind11

mkdir build && cd build

cmake .. -DPYBIND11_TEST=OFF

make -j

sudo make install

catkin_ws

mkdir -p ~/z1_ws/src

cd ~/z1_ws/src

git clone --recursive <https://github.com/unitreerobotics/z1_ros.git>

cd ..

rosdep install --from-paths src --ignore-src -yr --rosdistro noetic

# compile unitree_legged_msgs first
catkin_make --pkg unitree_legged_msgs

catkin_make

source devel/setup.bash

IP : Robot Arm ↔ PC

• Network
  • Wired
    • IPv4
      • IPv4 Method
        • Manual
      • Addresses
        • address
          • 192.168.123.11
        • mask
          • 255.255.255.0

3. Operating

• Ready

---

• Real Robot Arm

roslaunch z1_bringup real_arm.launch rviz:=true

• Simulated Robot Arm

roslaunch z1_bringup sim_arm.launch UnitreeGripperYN:=true rviz:=true

---

• Gripper

rosrun z1_examples ros_gripper_ctrl -1 

# Close rosrun z1_examples ros_gripper_ctrl 0

• Rviz
  • Motion Planning
    • Goal State
      • Home
      • Stow
      • Pounce
      • ETC

---

• More - Moveit
  • moveit!
  • Getting Started — moveit_tutorials Noetic documentation