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I have found the solution, the problem was not with any kind of configuration or missing package or node. In order for the robot dog (Unitree A1) to move (with command) the dog needs to be in Sport mode. The sport mode required 3 steps using remote

1) L2 + B

2) L1 + Start

3) Start

After 3rd step dog would do some peddling for a couple of seconds and stop. The sport mode becomes active after the peddling is over. if peddling is stopped before it ends automatically the sport mode is not activated. This incompletion is linked to the availability of the lcm_server_high ports. Due to the unavailability of those ports, the command never reflects on the dog even though everything is working fine in the background.

The solution was that put the dog in the sport mode and make sure it finishes its sport mode peddling itself (no interruption). The high LCM server ports became available and the command worked.

Thanks