B2 Vacc

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

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:

ifconfig
ping 192.168.123.164

To SSH into the B2:

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:

ros2 launch b2_viz view_robot.launch.py

Teleoperation:

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:

# 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.

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.

Navigation

Odometric Navigation:

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.

ros2 launch b2_navigation map_navi.launch.py

SLAM (Simultaneous Localization and Mapping):

Ensure b2_bringup is already running.

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:

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:

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

Autonomous Vacuum Demo

Launch mission detection and movement:

ros2 launch b2_vision_action mission.launch.py

Save training images for RoboFlow dataset:

ros2 run b2_vision_action libimagecapture.py

Train the vision model:

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

B2 Fortress Simulation:

ros2 launch b2_gazebo b2_fortress_simulation.launch.py

B2W Fortress Simulation:

ros2 launch b2_gazebo b2w_fortress_simulation.launch.py

Cleanup After Simulation:

ros2 run b2_gazebo kill_gz.sh

Joint Control

Effort Trajectory Control:

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:

# 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:

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:

sudo service b2-<service_name> restart

Install new startup configuration:

Modify b2_bringup/system.launch.py, then:

ros2 run b2_bringup startup_installer.py

Camera Streaming

Front Camera:

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:

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:

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

2. Sync system time:

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:

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

4. Build ROS2 workspace:

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

5. Update .bashrc:

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:

./b2_install.bash

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

4. Build Cyclone DDS:

colcon build --packages-select cyclonedds

5. Source workspace:

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

6. Build repository twice:

colcon build --symlink-install

7. Source the B2 bringup config:

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

Miscellaneous

Sync Host to Unitree PC:

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

SSH Key Setup:

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

Xacro to URDF:

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.