Introduction to the System

Overview over the existing software stack

Due to its complexity, the software stack is split up into multiple parts. Robot Operating System short ROS serves as the base for the soft realtime computation. Multiple packages were developed by us and some existing ones by third party developers were integrated. Our ROS packages are available on the rbd_ros Github page with following dependencies:

unitree_legged_sdk

The official SDK by the manufacturer, which provides both low- and high-level control via the LCM real-time server.

qre_a1

A private repo by MyBotShop.de which serves as a wrapper for the unitree_legged_sdk. Due to compatability issues, we are currently using version 3.2.0.

ouster_ros

The packages for the ouster OS1.

zed_ros_wrapper

The ROS wrapper for the ZED SDK which the ZED 2 stereo camera works with.