.. warning::
   ROS 2 Foxy Fitzroy reached end-of-life in June 2023. We recommend upgrading to ROS 2 Humble for continued support.

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

This section covers the installation procedures for the B2W system.

.. note::
   This should already be configured by the MYBOTSHOP team.

B2 Nvidia (Robot)
^^^^^^^^^^^^^^^^^

1. Create workspace:

.. code-block:: bash

   sudo hostnamectl set-hostname b2-unit-366
   sudo mkdir /opt/mybotshop
   sudo chown -R unitree:unitree /opt/mybotshop

2. Set timezone:

.. code-block:: bash

   sudo timedatectl set-timezone Europe/Berlin

3. Run installer:

.. code-block:: bash

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

4. Build workspace:

.. code-block:: bash

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

5. Add to ``.bashrc``:

.. code-block:: bash

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

6. Install services:

.. code-block:: bash

   ros2 run b2_bringup startup_installer.py

Host PC
^^^^^^^

1. Source ROS and build:

.. code-block:: bash

   source /opt/ros/foxy/setup.bash
   colcon build --symlink-install

2. Configure network:

   - **Address:** 192.168.123.51
   - **Netmask:** 24

3. Verify connection:

.. code-block:: bash

   ping 192.168.123.164
   ssh -X unitree@192.168.123.164

Sync to Robot
^^^^^^^^^^^^^

.. code-block:: bash

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