A ROS-driven four-legged robot, fully documented.
Twelve actuated leg joints under a ROS driver stack (QRE B1) — walking, teleop, Gazebo/Champ simulation, and optional Z1 arm or Ouster LiDAR field upgrades, layered on stock Unitree B1 hardware by MYBOTSHOP.
From a fresh workstation to driving the B1
The B1's ROS driver runs on a remote PC or on the robot's own onboard Raspberry Pi / Nvidia upgrade board — nothing needs installing on the robot's control board itself.
Install ROS & build the workspace
Install ROS Noetic (Ubuntu 20.04) or ROS Melodic (Ubuntu 18.04) on the remote PC or onboard computer, then create a catkin workspace and build against it. Full apt/catkin command sequences for both distributions are in the PDF manual.
Connect to the B1
Connect over the supplied Ethernet cable with a static IP, or join the robot's own hotspot — SSID pattern UnitreeRoboticsB1-###, default password 00000000. Once connected, the B1-MCU is reachable at 192.168.12.1 (password 123); the two onboard PCs are documented at 192.168.123.161 (main) and 192.168.123.12 (Nvidia), also password 123.
Launch the driver
High-level mode brings the robot to walking control: roslaunch b1_base base.launch opens the communication channel and publishes robot state on state, subscribing to cmd_vel for locomotion. Low-level mode is documented but still in active development.
Visualize & teleoperate
roslaunch b1_viz view_robot.launch shows the robot's current state; drive it with the standard ROS teleop_twist_keyboard node remapped onto the robot's namespaced cmd_vel topic — no extra hardware required.
Full pre-requisite install walkthrough, network reference and command sequences: MYBOTSHOP B1 User Manual (PDF) · Official Unitree B1 User Manual.
The QRE B1 ROS package set
A set of ROS packages layered on the B1 by MYBOTSHOP / QUADRUPED Robotics — base driving, description, simulation, visualization and teleop, built on top of Unitree's own SDK.
B1 Base
The core driver, in two modes that can't be switched at runtime: high-level mode for walking (holonomic cmd_vel control via Twist messages, robot state on state, pose via the set_body_pose service); low-level joint mode is documented but still in development.
B1 Description
The ROS package behind the model in the viewer above: the B1's 3D meshes stitched into a single URDF, including mount points for auxiliary components such as LiDAR. roslaunch b1_description check_joint.launch lets you adjust auxiliary component placement offline.
B1 Gazebo
Simulation and control in Gazebo, built on the vendored Champ quadruped-control framework — teleoperate the simulated robot and use it as a base for SLAM and autonomous navigation work.
B1 Viz
Visualization of the robot's current state, in both simulation and on real hardware — roslaunch b1_viz view_robot.launch, automatically launched alongside the base driver to show the perceived leg position live.
B1 Control
Teleop support for a Logitech controller: roslaunch b1_control controller.launch. Localization files for full navigation are on the roadmap but not yet published.
B1 Camera
An onboard camera package is documented as a placeholder in the QRE B1 software set — no content published yet. Ask us directly for current status.
Ubuntu 18.04/ROS Melodic and Ubuntu 20.04/ROS Noetic are both documented build targets; an installer.bash script automates dependency installation once you have the B1 software package — email us for the latest driver.
Field upgrades: arm & LiDAR
The B1 can be extended with additional sensors and hardware — each requiring its own software modifications, documented in full in the PDF manual.
Z1 Robotic Arm
A 3-degree-of-freedom manipulator arm can be mounted to the B1's body via a rotating joint, adding manipulation capability on top of the quadruped's own locomotion. Contact us for integration details.
Ouster LiDAR
A full install walkthrough is documented: cloning ouster-ros into a third_party workspace folder, setting the sensor's static IP, and a sample ouster.launch configuring the sensor hostname and UDP destination. Verify with roslaunch ouster_ros ouster.launch viz:=true.
Both upgrades require workspace-level software changes beyond the base install — full command sequences and the sample ouster.launch XML are in the PDF manual.
Manuals, ROS docs & robot description
Everything published for the B1 so far — the manufacturer's own manuals, the MYBOTSHOP manual, the SDK repository, and the robot description package.
Official Unitree B1 User Manual
The manufacturer's own B1 user manual, plus the Unitree GitHub SDK repository and manufacturer's own (Chinese-language) documentation portal for deeper reference.
Open manual → unitree_ros on GitHub →MYBOTSHOP B1 User Manual
A single self-contained manual: ROS Melodic/Noetic install walkthrough, quick start, network & app setup, the full QRE B1 ROS package reference, and the Z1 arm / Ouster LiDAR field-upgrade procedures.
Download PDFB1 Robot Description (URDF)
The b1_description package — URDF, Collada visual meshes and package.xml — the same model rendered live in the viewer above. Drop it into a ROS workspace or RViz. Note: this package's package.xml declares a Proprietary license; check with support@quadruped.de before redistributing it further.
Looking for the low-level driver, the camera package, or navigation/localization files? None are published yet — ask us directly.
If something goes wrong
Two steps, in order — the forum first for fast community and staff triage, then a direct ticket if it needs to go further.
MYBOTSHOP Forum
Open a topic on the MYBOTSHOP Forum for community and staff triage — most software questions and known issues get resolved here first. For code-level bugs, GitHub Issues, StackOverflow and Answers-ROS are also in play.
Direct ticket & RMA
If it's unresolved, email support@quadruped.de with the problem description and what's already been tried. For hardware issues we'll issue an RMA number and return instructions — returns without an RMA number are auto-rejected.
RMA returns ship to: QUADRUPED Robotics GmbH c/o MYBOTSHOP GmbH, Willy-Messerschmitt-Strasse 12, 50126 Bergheim, Germany.
We're here for the whole deployment
Fleet rollout, a field upgrade, or a question about a specific ROS package — the MYBOTSHOP team can help.
support@quadruped.de