unitree_guide for ros2

[Wataru-Oshima-Tokyo]

Overview

This pull request introduces a series of parameter adjustments and code modifications for the ROS2 adaptation of the unitree_robotics/unitree_guide package. The main goal is to improve the stability of the GO1 robot during simulation and potentially in real-world deployment.

Changes Made

• Updated parameter files to better suit the ROS2 framework.
• Modified the launch files for compatibility with the latest ROS2 releases.
• Identified potential issues in controller configurations that led to erratic robot behavior.
• Provided temporary fixes to mitigate the robot's unstable control, marking areas where further investigation and community input are needed.

Known Issues

The GO1 robot can be launched successfully, but the control remains imperfect, causing unintended movements. The parameter configurations require meticulous review and tuning.

Call for Contribution

This update serves as a prototype for the ROS2 migration. There's a need for:

• Detailed examination of parameter discrepancies between ROS1 and ROS2 implementations.
• Community testing and feedback to refine the configurations.
• Collaborative efforts to achieve fully stable and reliable control of the GO1 robot under ROS2.

How to Test

Please refer to the updated README.md in this pull request for instructions on setting up and testing the current state of the ROS2 migration.

Conclusion

While this pull request does not completely resolve the control issues, it is a step towards a fully functional ROS2 package. Your expertise and contributions are crucial for the advancement of this project.

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