README_unitree_z1.md

Install Z1 sdk and controller packages

First, initialise the submodules (required before any cmake step):

git submodule update --init --recursive

1. Go inside unitree_z1/z1_controller and build:

cd unitree_z1/z1_controller
mkdir build && cd build
cmake -DCMAKE_POLICY_VERSION_MINIMUM=3.5 ..
make -j4

2. Go inside unitree_z1/z1_sdk and build:

cd ../../z1_sdk
mkdir build && cd build
cmake -DCMAKE_POLICY_VERSION_MINIMUM=3.5 ..
make -j4

3. Build the ROS2 messages from the repo root:

cd ../../ros2_ws
colcon build --packages-select dls2_interface
source install/setup.bash

Running the Z1 HAL

(TERMINAL 1) From the repo root, start the Z1 controller:

python3 launch_z1_controller.py

(TERMINAL 2) From the repo root, start the HAL node:

python3 launch_z1_hal.py