H1-2 E

H1 Overview

ROS2 drivers for the H1 platform include:

Domain Bridge
Joint State publisher
Robot Description
Arm and Leg High-Level Control
IMU Publisher
Sensor Fusion
Twist Mux
Depth Camera driver (D435i)
Lidar drivers (Livox / Ouster)

Drivers are managed via startup services or the webserver interface.

Auto Drivers Startup

Check driver status:

sudo service h1-platform status
sudo service h1-webserver status

Start drivers manually:

sudo service h1-platform start

Restart if required:

sudo service h1-platform restart

Modify startup jobs in:

h1_bringup/scripts/startup_installer.py

Apply changes:

ros2 run h1_bringup startup_installer.py

RViz2

Visualize robot state:

ros2 launch h1_viz view_robot.launch.py

Tele-Operation

Keyboard teleop:

ROS_DOMAIN_ID=10 ros2 run teleop_twist_keyboard teleop_twist_keyboard \
--ros-args --remap cmd_vel:=/h1_unit_0001/hardware/cmd_vel

Core Launch Files

Useful launch files:

ros2 launch h1_platform highlevel_ros.launch.py
ros2 launch h1_platform domain_bridge.launch.py
ros2 launch h1_platform h1_2_state_publisher.launch.py
ros2 launch h1_webserver webserver.launch.py
ros2 launch h1_control twistmux.launch.py
ros2 launch h1_lidar ouster.launch.py
ros2 launch h1_depth_camera realsense.launch.py

Arms (7-DoF):

ros2 launch h1_description h1_2_description.launch.py
ros2 launch h1_platform h1_2_arm_record.launch.py

SDK examples:

./h1_loco_client --network_interface=eth0 --shake_hand

Modes Selection

Posture & State Commands

damp — all motors damping mode
start — begin locomotion
squat — transition to squat
sit — sit down
stand_up — stand up
zero_torque — disable torque
stop_move — stop motion
high_stand — high posture
low_stand — low posture
balance_stand — active balance stand
shake_hand — perform handshake

Setter Commands

set_fsm_id=<id>
set_balance_mode=<0/1>
set_swing_height=<m>
set_stand_height=<m>
set_velocity="vx vy w dur"
move="vx vy w"
set_task_id=<id>
set_speed_mode=<mode>

Getter Commands

get_fsm_id
get_fsm_mode
get_balance_mode
get_swing_height
get_stand_height
get_phase

Example: Damp Mode

ROS_DOMAIN_ID=10 ros2 service call \
/h1_unit_0001/hardware_modes h1_interface/srv/H1Modes \
'{"request_data": "damp"}'

Dual Arm Control (H1-2)

Launch server:

ros2 launch h1_platform h1_2_arm_server.launch.py

Configuration file:

h1_platform/config/h1_2_dual_arm_controller.yaml

Example T-pose (trajectory):

ros2 action send_goal /h1_unit_1789/dual_arm/follow_joint_trajectory \
control_msgs/action/FollowJointTrajectory "{trajectory: {...}}"

(Full trajectories preserved in source document.)

Dual Arm Record (Experimental)

Launch:

ros2 launch h1_platform h1_2_arm_record.launch.py

Start recording:

ros2 service call /h1_unit_284/dual_arm/record std_srvs/srv/SetBool "data: true"

Stop:

ros2 service call /h1_unit_284/dual_arm/record std_srvs/srv/SetBool "data: false"

Playback latest:

ros2 service call /h1_unit_284/dual_arm/playback h1_interface/srv/H1Modes \
"request_data: ''"

Playback specific:

ros2 service call /h1_unit_284/dual_arm/playback h1_interface/srv/H1Modes \
"request_data: '/opt/mybotshop/h1_2_trajectories/<file>.csv'"

Additional ROS2 Packages

Located under:

/opt/mybotshop/src/mybotshop/

SLAM

Launch SLAM:

ros2 launch h1_navigation slam.launch.py

Save map:

ROS_DOMAIN_ID=10 ros2 run nav2_map_server map_saver_cli \
-f /opt/mybotshop/src/mybotshop/h1_navigation/maps/custom_map

Rebuild:

colcon build --symlink-install
source install/setup.bash

Auxiliary Sensors

Intel Realsense D435i

ros2 launch h1_depth_camera realsense.launch.py

Config file: h1_depth_camera/launch/realsense.launch.py

ZED2i

ros2 launch h1_depth_camera zed.launch.py

Config: params_zed_stereo.yaml

Ouster Lidar

ros2 launch h1_lidar ouster.launch.py

Config: ouster_params.yaml

GPS – Emlid M2

ros2 launch h1_gps emlid_m2.launch.py

Config: h1_gps/config/emlid_m2.yaml

Simulation

Gazebo Fortress

ros2 launch h1_gazebo h1_2_fortress_simulation.launch.py

Isaac Sim

See official Unitree / MYBOTSHOP guides.