B2-W OTT ======== .. image:: media/figures/b2_t.webp :alt: QRE Advanced B2-W Manipulator :width: 100% :class: mbsrounded The QRE Advanced B2-W Manipulator is a fully integrated mobile manipulation platform combining the Unitree B2-W wheeled quadruped robot with the Unitree Z1 robotic arm. This system is designed for advanced research and development applications requiring both mobility and manipulation capabilities. System Overview --------------- The B2-W OTT platform integrates: - **Unitree B2-W Wheeled Quadruped:** High-speed wheeled locomotion with 50rad/s wheel velocity - **Unitree Z1 Robotic Arm:** 6-DOF manipulator with gripper for object manipulation - **Dual Livox Mid360 LiDAR:** Front and rear 3D perception for navigation and mapping - **Intel RealSense D435i:** Depth camera for close-range perception and manipulation - **Pan-Tilt Camera System:** Dynamixel-actuated camera mount for enhanced field of view Specifications -------------- **Physical Dimensions:** - **Standing Height:** 758mm - **Folded Height:** 450mm - **Weight (with battery):** About 85kg **Mobility:** - **Maximum Wheel Velocity:** 50rad/s - **Maximum Standing Load:** About 40kg - **Continuous Walking Load:** About 120kg **Payload Configuration:** The robot supports various payload configurations including the Z1 arm, pan-tilt camera systems, sensor arrays, and custom payloads. Quick Start Guide ----------------- **1. Power On:** Press the battery power button once, then hold for 3 seconds. The robot will initialize and the ROS2 services will start automatically. **2. Verify Services:** .. code-block:: bash systemctl status b2-hardware systemctl status b2-webserver **3. Access Webserver:** Navigate to ``http://192.168.123.164:9000`` in a web browser for the control interface. .. image:: media/figures/web_dashboard.png :alt: B2 Webserver Dashboard :width: 100% :class: mbsrounded | .. list-table:: :widths: 50 50 :header-rows: 0 * - .. image:: media/figures/web_console.png :alt: Web Console :class: mbsrounded - .. image:: media/figures/web_vnc.png :alt: Web VNC :class: mbsrounded * - .. image:: media/figures/web_nav_indoor.png :alt: Indoor Navigation :class: mbsrounded - .. image:: media/figures/web_nav_outdoor.png :alt: Outdoor Navigation :class: mbsrounded | **4. Stand Up:** .. code-block:: bash ros2 service call /b2_unit_001/hardware/modes \ b2_interface/srv/B2Modes "{request_data: 'stand_up'}" **5. Control Movement:** .. code-block:: bash ros2 topic pub /b2_unit_001/cmd_vel geometry_msgs/msg/Twist \ "{linear: {x: 0.5, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}" Robot Modes ----------- The B2-W supports various operational modes: .. list-table:: :header-rows: 1 :widths: 25 50 * - Mode - Description * - damp - Damping mode (safe state) * - stand_up - Stand up from lying position * - stand_down - Lie down safely * - recovery - Recovery mode for fault conditions * - gait_idle - Idle gait (standing) * - gait_trot - Trotting gait * - gait_trot_running - Running trot gait * - gait_flatwalk - Flat terrain walking * - speed_low / speed_high - Speed settings * - body_height_low/mid/high - Body height settings Z1 Arm Control -------------- .. important:: **EXPERIMENTAL:** The Z1 driver is under active development. **Enable the arm:** .. code-block:: bash ros2 service call /b2_unit_001/z1/enable std_srvs/srv/Trigger **Send trajectory command:** .. code-block:: bash ros2 topic pub --once /b2_unit_001/z1/joint_trajectory \ trajectory_msgs/msg/JointTrajectory "{ joint_names: ['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'jointGripper'], points: [{ positions: [0.0, 1.57, -1.57, 0.0, 0.0, 0.0, 0.0], time_from_start: {sec: 3, nanosec: 0} }] }" **Disable the arm:** .. code-block:: bash ros2 service call /b2_unit_001/z1/disable std_srvs/srv/Trigger Pan-Tilt Camera System ---------------------- The pan-tilt camera mount uses Dynamixel servos: - **Servo 0 (Pan):** Range 1150-3200, Default 2170 - **Servo 1 (Tilt):** Range 230-900, Default 565 Control via webserver sliders or ROS2 topics: .. code-block:: bash # Center pan servo ros2 topic pub --once /dynamixel/servo_0/command \ std_msgs/msg/Float64 "data: 2170" # Center tilt servo ros2 topic pub --once /dynamixel/servo_1/command \ std_msgs/msg/Float64 "data: 565" Sensor Systems -------------- **Livox Mid360 LiDAR:** - Front LiDAR: 192.168.123.120 - Rear LiDAR: 192.168.123.121 Topics: - ``/livox/front/lidar`` - Front point cloud - ``/livox/rear/lidar`` - Rear point cloud - ``/livox/front/imu`` - Front IMU - ``/livox/rear/imu`` - Rear IMU **Intel RealSense D435i:** Topics: - ``/camera/color/image_raw`` - Color image - ``/camera/depth/image_rect_raw`` - Depth image - ``/camera/depth/color/points`` - Point cloud - ``/camera/imu`` - Camera IMU Navigation ---------- **SLAM Mapping:** .. code-block:: bash ros2 launch b2_navigation slam.launch.py **Autonomous Navigation:** .. code-block:: bash ros2 launch b2_navigation navigation.launch.py \ map:=~/maps/my_map.yaml Simulation ---------- Launch the B2-W in Gazebo Fortress: .. code-block:: bash ros2 launch b2_gazebo spawn.launch.py With Z1 arm: .. code-block:: bash export B2_Z1=1 ros2 launch b2_gazebo spawn.launch.py Network Configuration --------------------- .. list-table:: :header-rows: 1 :widths: 20 25 15 15 * - IP Address - Device - Username - Password * - 192.168.123.161 - B2 MCU - x - x * - 192.168.123.164 - B2 Nvidia Orin NX - unitree - Unitree0408 * - 192.168.123.164:8080 - B2 Webserver - admin - mybotshop * - 192.168.123.120 - Livox Mid360 Front - x - x * - 192.168.123.121 - Livox Mid360 Rear - x - x ROS_DOMAIN_ID is set to **10**. Debugging --------- **Check Services:** .. code-block:: bash systemctl list-units --type=service --state=active | grep b2 **View Logs:** .. code-block:: bash journalctl -u b2-hardware -f **Restart Services:** .. code-block:: bash sudo systemctl restart b2-hardware sudo systemctl restart b2-webserver Safety Guidelines ----------------- .. warning:: Always maintain a safe distance from the robot during operation. The robot can move quickly and unexpectedly. - Keep the emergency stop accessible at all times - Ensure the operating area is clear of obstacles and personnel - Monitor battery levels to prevent sudden shutdowns - Do not exceed the maximum payload capacity - Perform regular maintenance checks on mechanical components For detailed safety information, refer to the safety guidelines section. Resources --------- - `Unitree B2 Documentation `_ - `Unitree Z1 Arm Documentation `_ - :download:`B2-W RnD User Manual <../../../media/pdfs/b2-rnd.pdf>`