ROS Noetic Exploration with Unitree Go1

gistfile1.txt

# Windows with VcXsrv
export GAZEBO_IP=127.0.0.1
export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0 
export LIBGL_ALWAYS_INDIRECT=0

# RViz
roslaunch go1_description go1_rviz.launch

# Joint publisher GUI for ROS Noetic
rosrun joint_state_publisher_gui joint_state_publisher_gui

# Move the hip joints
rostopic pub /joint_states sensor_msgs/JointState '{header: auto, name: ['FR_hip_joint', 'FL_hip_joint'], position: [1.05, 1.05], velocity: [], effort: []}' --rate 10 -s

rostopic pub /joint_states sensor_msgs/JointState '{header: auto, name: ['FR_hip_joint', 'FR_thigh_joint', 'FR_calf_joint', FL_hip_joint', 'FL_thigh_joint', 'FL_calf_joint', 'RR_hip_joint', 'RR_thigh_joint', 'RR_calf_joint', 'RL_hip_joint', 'RL_thigh_joint', 'RL_calf_joint'], position: [1.05, 0.0, -1.780235837034216, 0.0, 0.0, -1.780235837034216, 0.0, 0.0, -1.780235837034216, 0.0, 0.0, -1.780235837034216], velocity: [], effort: []}' --rate 10 -s


# rostopic echo /joint_states
---
header:
  seq: 7327
  stamp:
    secs: 1663271031
    nsecs: 868153333
  frame_id: ''
name:
  - FR_hip_joint
  - FR_thigh_joint
  - FR_calf_joint
  - FL_hip_joint
  - FL_thigh_joint
  - FL_calf_joint
  - RR_hip_joint
  - RR_thigh_joint
  - RR_calf_joint
  - RL_hip_joint
  - RL_thigh_joint
  - RL_calf_joint
position: [0.0, 0.0, -1.780235837034216, 0.0, 0.0, -1.780235837034216, 0.0, 0.0, -1.780235837034216, 0.0, 0.0, -1.780235837034216]
velocity: []
effort: []
---