Powering-on

To power on the B2 robot, press the power button on the battery once, and then press and hold for 3 seconds to start the robot.

The battery compartment is located on the back of the robot.

Similarly, to turn off the robot, press the power button on the battery once, and then press and hold for 3 seconds to turn off the robot.

Note

Please be cautious with battery consumption. Continuously monitor the battery levels. If the battery is depleted, the robot will fall.

Network Interface

Instructions for interfacing with the robot using Ubuntu 22.04 and ROS2 Humble.

This procedure should be followed after successfully setting up and pairing with the B2 robot. Additionally, all of the B2’s functionality should be verified through the accompanying app before proceeding.

The Ethernet port can be used to establish communication via LAN.

Network Setup

To configure the robot’s network for the first time, you need to connect using a LAN cable.

To create a static connection on your PC (not on the robot), follow these steps in Ubuntu:

1. Go to Settings → Network, then click on the + button to create a new connection.

2. In the IPv4 settings, change the connection type to Manual.

3. Set the Address to 192.168.123.51 and the Netmask to 24.

4. Click Save, then restart your network.

After successfully connecting, check the host’s local IP by typing the following command in the host PC’s terminal:

ifconfig

Now, ping the robot by entering:

ping 192.168.123.164

To access the robot via SSH, use the following command:

ssh -X unitree@192.168.123.164

The default password is:

Unitree0408

IP Addresses

IP Address	Device	Username	Password
192.168.123.161	B2 MCU	x	x
192.168.123.162	B2 Auxiliary PC 1	unitree	123
192.168.123.163	B2 Auxiliary PC 2	unitree	123
192.168.123.164	B2 Nvidia Orin NX	unitree	Unitree0408
192.168.123.164:8080	B2 Webserver MBS	admin	mybotshop
192.168.123.170	B2 Nvidia Secondary IP	unitree	Unitree0408
192.168.123.120	Livox Mid360 Front	x	x
192.168.123.121	Livox Mid360 Rear	x	x

Note

Sometimes other networks can cause disruptions when connecting to the B2. It is best to have only your connection to the robot active and disable all others.

ROS_DOMAIN_ID

The B2 system uses ROS_DOMAIN_ID 10 for communication. Ensure your host PC is configured with the same domain:

export ROS_DOMAIN_ID=10

Add this to your .bashrc for persistent configuration.

Secondary IP Configuration

For camera streaming, the robot uses a secondary IP address (192.168.123.170). This is configured via netplan:

network:
  version: 2
  renderer: NetworkManager
  ethernets:
    eth0:
      dhcp4: false
      addresses: [192.168.123.164/24,192.168.123.170/24]
      nameservers:
        addresses: [114.114.114.114,8.8.8.8]