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Setup

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

① build from source: moveit noetic ② Binary install

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

If you want to install python interface, please check the offical page.

# Install pinocchio
git clone --recursive https://github.com/stack-of-tasks/pinocchio
cd pinocchio
# Attention: This program is not compatible with pinocchio from version V3.0.0 onwards.
git checkout v2.7.0
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

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

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