B2 Vacc
=======

.. image:: media/figures/b2_vac_1.jpg
    :alt: B2 Vacc Robot
    :width: 100%
    :class: mbsrounded

The B2 Vacc is an autonomous vacuum demonstration platform based on the Unitree B2 quadruped robot. This system showcases advanced vision-based navigation and autonomous cleaning capabilities.

System Overview
---------------

The B2 Vacc platform integrates:

- **Unitree B2 Quadruped:** High-performance legged locomotion
- **Robosense LiDAR:** 3D perception for navigation and mapping
- **Intel RealSense D435i:** Depth camera for close-range perception
- **Vision-based Detection:** AI-powered mission detection system
- **Webserver Interface:** Remote monitoring and control

.. image:: media/figures/b2_vac_2.jpg
    :alt: B2 Vacc Robot
    :width: 100%
    :class: mbsrounded

|

Network Configuration
---------------------

**IP Addresses:**

+-------------------------+---------------------+--------------+--------------+
| **Name**                | **IP Address**      | **Username** | **Password** |
+=========================+=====================+==============+==============+
| B2 MCU                  | 192.168.123.161     | x            | x            |
+-------------------------+---------------------+--------------+--------------+
| B2 Robosense Lidar      | 192.168.123.162     | x            | x            |
+-------------------------+---------------------+--------------+--------------+
| B2 Onboard PC           | 192.168.123.164     | unitree      | Unitree0408  |
+-------------------------+---------------------+--------------+--------------+

**IP Reference:**

- ``192.168.123.161`` - B2 MCU
- ``192.168.123.164`` - B2 Auxiliary PC (LAN only)

.. note::

   This guide describes how to interface with the B2 robot using **Ubuntu 20.04** and **ROS2 Humble**.

.. important::

   Make sure B2 Edu is fully set up, paired, and verified through the app.

Static Network Connection
^^^^^^^^^^^^^^^^^^^^^^^^^

To configure the network initially:

1. Connect your PC to the B2 using a **LAN cable**.
2. In **Ubuntu Settings → Network**, click **+** to add a new connection.
3. In **IPv4 settings**, set the method to **Manual**:
   - Address: ``192.168.123.51``
   - Netmask: ``24``
4. Save and restart your network.

To verify the connection:

.. code-block:: bash

    ifconfig
    ping 192.168.123.164

To SSH into the B2:

.. code-block:: bash

    ssh -X unitree@192.168.123.164
    # Password: Unitree0408

.. note::

    It is recommended to disable all other networks while connecting to B2 to avoid interference.

Quick Start
-----------

**Drivers Startup:**

.. note::

   Drivers should already be configured by the MBS-Team.

To launch RViz:

.. code-block:: bash

    ros2 launch b2_viz view_robot.launch.py

**Teleoperation:**

.. code-block:: bash

    ROS_DOMAIN_ID=10 ros2 run teleop_twist_keyboard teleop_twist_keyboard \
      cmd_vel:=/b2_unit_001/hardware/cmd_vel

    ROS_DOMAIN_ID=10 ros2 run teleop_twist_keyboard teleop_twist_keyboard \
      cmd_vel:=/b2_unit_001/controls/cmd_vel

Robot Modes
-----------

.. warning::
   At startup, **only the webserver** is active. Please click **Reactivate Services** to enable all functionalities.

   Once reactivated, the robot will **sit** and then **stand up** - transitioning from **AI Mode** to **Sports Mode**.

   **Be cautious:** Sports Mode is very fast and responsive.

**Available Modes:**

- ``damp`` - Damping mode (safe state)
- ``stand_up`` - Stand up from lying position
- ``stand_down`` - Lie down safely
- ``recovery`` - Recovery mode for fault conditions
- ``stop_move`` - Stop all movement
- ``gait_idle`` - Idle gait (standing)
- ``gait_trot`` - Trotting gait
- ``gait_trot_running`` - Running trot gait
- ``gait_visualwalk`` - Visual walking mode
- ``gait_flatwalk`` - Flat terrain walking
- ``speed_low`` / ``speed_high`` - Speed settings
- ``body_height_low`` / ``body_height_mid`` / ``body_height_high`` - Body height settings

Modes are defined in: ``b2_platform > src > b2_highroscontrol.cpp``

**Mode Control:**

.. code-block:: bash

    # Stand up
    ROS_DOMAIN_ID=10 ros2 service call /b2_unit_001/hardware/modes \
      b2_srvs/srv/B2Modes "{request_data: 'stand_up'}"

    # Stand down
    ROS_DOMAIN_ID=10 ros2 service call /b2_unit_001/hardware/modes \
      b2_srvs/srv/B2Modes "{request_data: 'stand_down'}"

.. note::
   ``stand_up`` and ``stand_down`` have been verified. Please refer to **Unitree documentation** for details on other modes.

Sensors
-------

**Realsense D435i:**

- The D435i must be manually connected from the main PC to PC4.
- It is **off by default**.

.. code-block:: bash

    ros2 launch b2_depth_camera realsense_d435i.launch.py

.. note::

    The Realsense D405 is also off by default.

**Realsense Configuration:**

- The launch file enables **continuous depth streaming** without lag.
- To modify parameters, update: ``b2_depth_camera/launch/realsense_d4XX.launch.py``

Webserver
---------

The B2 web server can be accessed by connecting to the B2's Wi-Fi network:

::

   http://<robot_ip>:9000

Replace ``<robot_ip>`` with the actual IP address of the B2 (e.g., ``192.168.123.164``).

.. note::

   The webserver provides useful control panels and monitoring features. Ensure your PC is connected directly to the B2 network.

.. image:: media/figures/b2_vac_web_1.jpg
    :alt: B2 Webserver
    :width: 100%

|

.. image:: media/figures/b2_vac_web_2.jpg
    :alt: B2 Webserver
    :width: 100%

|

.. image:: media/figures/b2_vac_web_3.jpg
    :alt: B2 Webserver
    :width: 100%

|

Navigation
----------

**Odometric Navigation:**

.. code-block:: bash

    ros2 launch b2_navigation odom_navi.launch.py

**Map Navigation:**

Ensure that a map has been generated and is available in the ROS package directory.

.. code-block:: bash

    ros2 launch b2_navigation map_navi.launch.py

**SLAM (Simultaneous Localization and Mapping):**

Ensure ``b2_bringup`` is already running.

.. code-block:: bash

    ros2 launch b2_navigation slam.launch.py

Use teleoperation (e.g., at 0.2 m/s) to map the area. Once complete, save the map:

.. code-block:: bash

    ROS_DOMAIN_ID=10 ros2 run nav2_map_server map_saver_cli \
      -f /opt/mybotshop/src/mybotshop/b2_nav2/maps/custom_map \
      --ros-args --remap map:=/b2_unit_001/map

After saving the map, rebuild your workspace:

.. code-block:: bash

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

Autonomous Vacuum Demo
----------------------

.. image:: media/gifs/b2_vac_demo.webp
    :alt: B2 Vacuum Demo
    :width: 100%
    :class: mbsrounded

|

**Launch mission detection and movement:**

.. code-block:: bash

    ros2 launch b2_vision_action mission.launch.py

**Save training images for RoboFlow dataset:**

.. code-block:: bash

    ros2 run b2_vision_action libimagecapture.py

**Train the vision model:**

.. code-block:: bash

    python3 train.py

**Motion behavior configuration:**

Modify: ``b2_vision_action/b2_vision_action/librosnode.py``

**Webserver control:**

::

   http://192.168.68.168:9000/console_page

Simulation
----------

.. image:: media/gifs/b2_gazebo.webp
    :alt: B2 Gazebo Simulation
    :width: 100%
    :class: mbsrounded

|

**B2 Fortress Simulation:**

.. code-block:: bash

    ros2 launch b2_gazebo b2_fortress_simulation.launch.py

**B2W Fortress Simulation:**

.. code-block:: bash

    ros2 launch b2_gazebo b2w_fortress_simulation.launch.py

**Cleanup After Simulation:**

.. code-block:: bash

    ros2 run b2_gazebo kill_gz.sh

Joint Control
-------------

**Effort Trajectory Control:**

.. code-block:: bash

    ros2 action send_goal /joint_effort_controller/follow_joint_trajectory \
      control_msgs/action/FollowJointTrajectory -f "{
      trajectory: {
        joint_names: [
          'FL_hip_joint', 'FL_thigh_joint', 'FL_calf_joint',
          'FR_hip_joint', 'FR_thigh_joint', 'FR_calf_joint',
          'RL_hip_joint', 'RL_thigh_joint', 'RL_calf_joint',
          'RR_hip_joint', 'RR_thigh_joint', 'RR_calf_joint'
        ],
        points: [
          {
            positions: [0.0, 0.9, -1.5, 0.0, 0.9, -1.5,
                        0.0, 0.9, -1.5, 0.0, 0.9, -1.5],
            time_from_start: {sec: 2, nanosec: 0}
          }
        ]
      }
    }"

**B2W Wheeled Movement:**

.. code-block:: bash

    # Move Forward
    ros2 topic pub /velocity_controller/commands \
      std_msgs/msg/Float64MultiArray "{data: [-1.0, -1.0, -1.0, -1.0]}"

    # Move Backward
    ros2 topic pub /velocity_controller/commands \
      std_msgs/msg/Float64MultiArray "{data: [10.0, 10.0, 10.0, 10.0]}"

    # Stop Movement
    ros2 topic pub /velocity_controller/commands \
      std_msgs/msg/Float64MultiArray "{data: [0.0, 0.0, 0.0, 0.0]}"

Auto-Startup Services
---------------------

The B2 does **not** automatically start ROS jobs unless explicitly configured. By default, only the ``system.launch.py`` in ``b2_bringup`` is launched.

**Check startup status:**

.. code-block:: bash

    sudo service b2-<service_name> status

**Status Indicators:**

- **Red marker** - Service failed
- **Green marker** - Service running correctly
- **Grey marker** - Service not started

**Restart a service:**

.. code-block:: bash

    sudo service b2-<service_name> restart

**Install new startup configuration:**

Modify ``b2_bringup/system.launch.py``, then:

.. code-block:: bash

    ros2 run b2_bringup startup_installer.py

Camera Streaming
----------------

**Front Camera:**

.. code-block:: bash

    gst-launch-1.0 udpsrc address=230.1.1.1 port=1720 multicast-iface=eth0 \
      ! application/x-rtp, media=video, encoding-name=H264 \
      ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! autovideosink

**Rear Camera:**

.. code-block:: bash

    gst-launch-1.0 udpsrc address=230.1.1.1 port=1721 multicast-iface=eth0 \
      ! application/x-rtp, media=video, encoding-name=H264 \
      ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! autovideosink

Installation
------------

**B2 Nvidia Board:**

1. Set hostname and directory:

.. code-block:: bash

    sudo hostnamectl set-hostname B2-366
    sudo mkdir /opt/mybotshop && sudo chown -R unitree:unitree /opt/mybotshop

2. Sync system time:

.. code-block:: bash

    sudo timedatectl set-timezone Europe/Berlin
    sudo date -s "$(wget --method=HEAD -qSO- --max-redirect=0 google.com 2>&1 | sed -n 's/^ *Date: *//p')"

3. Run installer:

.. code-block:: bash

    cd /opt/mybotshop/src/mybotshop
    ./b2_install.bash

4. Build ROS2 workspace:

.. code-block:: bash

    cd /opt/mybotshop
    colcon build --symlink-install
    source install/setup.bash

5. Update ``.bashrc``:

.. code-block:: bash

    source /opt/ros/humble/setup.bash
    source /opt/mybotshop/src/mybotshop/b2_bringup/config/setup.bash

**Host PC (Ubuntu 20.04 with ROS2 Humble):**

1. Ensure ROS2 Humble is installed but **not sourced** before first run.

2. Install dependencies:

.. code-block:: bash

    ./b2_install.bash

3. Create workspace and clone ``qre_b2`` to ``/opt/mybotshop``

4. Build Cyclone DDS:

.. code-block:: bash

    colcon build --packages-select cyclonedds

5. Source workspace:

.. code-block:: bash

    source install/setup.bash
    source /opt/ros/humble/setup.bash

6. Build repository **twice**:

.. code-block:: bash

    colcon build --symlink-install

7. Source the B2 bringup config:

.. code-block:: bash

    source /opt/mybotshop/install/setup.bash
    source /opt/mybotshop/src/mybotshop/b2_bringup/config/setup.bash

Miscellaneous
-------------

**Sync Host to Unitree PC:**

.. code-block:: bash

    rsync -avP -t --delete -e ssh src unitree@192.168.123.164://opt/mybotshop

**SSH Key Setup:**

.. code-block:: bash

    ssh-copy-id unitree@192.168.123.164
    # Password: Unitree0408

**Xacro to URDF:**

.. code-block:: bash

    export B2_DESC=1
    ros2 run xacro xacro \
      /opt/mybotshop/src/mybotshop/b2_description/xacro/robot.xacro \
      > /opt/mybotshop/src/mybotshop/b2_description/xacro/b2.urdf

Software Updates
----------------

The latest software updates for QRE B2 can be pulled from the ``qre_b2`` GitHub repository.

.. note::
   If you do not have access to the repository, contact **support@mybotshop.de** with your **GitHub Username** and **Purchase ID**.