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z1-ros's Introduction

Z1_ROS

structure

Packages

  • z1_bingup - Simple launching package for starting necessary components of the MoveIt driver.
  • z1_controller - For direct control of the robot arm and connection to the SDK.
  • z1_hw - Hardware interface between robot and MoveIt. Creates a joint_trjectory_controller for the arm and an action server for the gripper.
  • z1_moveit_config - Example configuration for using MoveIt with a Z1 arm.
  • z1_rviz - Simple RVIZ launches and configurations for displaying a currently running arm, or the URDF to verify the setup.
  • z1_examples - Examples for using moveit.
  • z1_sdk - Examples for using udp communication.

Welcome to the ROS driver for the Unitree Z1!

Setup - Configure the environment

Usage - Contrl the z1 arm

Attention: The z1_controller package in z1_ros is different from https://github.com/unitreerobotics/z1_controller, and https://github.com/unitreerobotics/z1_sdk is not compatible with this package.

See details z1_controller

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