OptiTrack and ROS 2 Integration for Unitree G1 Humanoid Robot

This repository contains a real-time teleoperation framework that connects the OptiTrack optical motion capture system with the Unitree G1 humanoid robot via the ROS 2 network. This project was developed as part of a thesis work at the Antal Bejczy Center for Intelligent Robotics at Óbuda University.

🛠️ Technologies and Versions

• OS: Ubuntu 22.04.5 LTS (via WSL)
• ROS Version: ROS 2 Humble Hawksbill
• OptiTrack Software: Motive 2.2
• Communication Protocol: VRPN

⚙️ System Operation

The framework processes raw spatial Rigid Body data received from the OptiTrack system. Instead of the classic "Plan-Execute" motion planning, the system utilizes a velocity-based control approach built on the MoveIt Servo module. This solution converts the raw spatial data into real-time relative velocity vectors (Twist messages), enabling continuous, dynamic control at the robot arm's end-effector, secured by built-in collision checking.

📦 Dependencies

To run this package, you need to clone and build the following external ROS 2 packages in your workspace's src directory:

1. vrpn_client_ros2 - For receiving VRPN data.
2. Unitree-G1-MoveIt2-Arm-Manipulation (https://github.com/sharan05032000/Unitree-G1-Movelt2-Arm-Manipulation) (Created by: Sharan Rabinson Mohanraj) - For Unitree G1 robot visualization and MoveIt simulation.
3. pymoveit2 - For the MoveIt Python interface.

🚀 Installation and Usage

1. Create the ROS 2 workspace and clone this repository:

   mkdir -p ~/g1_ws/src
   cd ~/g1_ws/src
   git clone [https://github.com/ABC-iRobotics/OptiTrack_ROS.git](https://github.com/ABC-iRobotics/OptiTrack_ROS.git)
   
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🚀 Running the Project

The project includes two different control approaches. You must open separate terminals for each step and run the commands provided.

Approach 1: Direct Euler Control (First Solution)

Terminal 1 - Start VRPN:

nc -vz [your IP] 3883
colcon build --packages-select vrpn_listener
source install/setup.bash
ros2 launch vrpn_listener sync_entity_state.launch

Terminal 2 - Start Virtual Simulation:

cd ~/g1_ws
colcon build
source install/setup.bash
ros2 launch g1_arm demo.launch.py

Terminal 3 - Control Node:

cd ~/g1_ws
source install/setup.bash
ros2 launch g1_teleop direct_teleop

Approach 2: MoveIt Servo Control (Second Solution)

Terminal 1 - Start VRPN:

nc -vz [your IP] 3883
colcon build --packages-select vrpn_listener
source install/setup.bash
ros2 launch vrpn_listener sync_entity_state.launch

Terminal 2 - Start Virtual Simulation:

cd ~/g1_ws
colcon build
source install/setup.bash
ros2 launch g1_arm demo.launch.py

Terminal 3 - Fake Body Publisher:

cd ~/g1_ws
source install/setup.bash
ros2 run g1_teleop fake_body

Terminal 4 - Start MoveIt Servo:

cd ~/g1_ws
source install/setup.bash
ros2 launch g1_teleop g1_servo.launch.py

Terminal 5 - Servo Teleoperation Node:

cd ~/g1_ws
source install/setup.bash
ros2 run g1_teleop servo_teleop

Optional Debugging Terminals:

Terminal 6: Joint status tracking

Terminal 7: Servo status tracking

Terminal 8: Joint trajectory status tracking

Terminal 9: Visualize node graph using rqt_graph