B2 Network Interface

B2 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:

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

To verify the connection:

ifconfig

Then ping the robot:

ping 192.168.123.164

To SSH into the B2:

ssh -X unitree@192.168.123.164

Default password:

Unitree0408

Note

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

Network Connection

Connect via LAN:

ssh -X unitree@192.168.123.164

B2 Quick Start

B2 Drivers Startup

Note

Drivers should already be configured by the MBS-Team.

To launch RViz:

ros2 launch b2_viz view_robot.launch.py

B2 Tele-operation

To control the B2 using keyboard teleoperation (replace b2_unit_001 with the correct unit name):

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

B2 Mode Activation

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 B2 modes (via ROS2 services):

• damp
• stand_up
• stand_down
• recovery
• stop_move
• gait_idle
• gait_trot
• gait_trot_running
• gait_visualwalk
• gait_flatwalk
• speed_low
• speed_high
• body_height_low
• body_height_mid
• body_height_high

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

To activate a mode:

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

To deactivate (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.

B2 Sensors

Realsense D435i

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

To launch:

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.launch.py

B2 ROS Packages

B2 Webserver

The B2 web server can be accessed by connecting to the B2’s Wi-Fi network and entering the following in your browser:

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.

Front Camera

TBA …

Rear Camera

TBA …

B2 Navigation

SLAM (Simultaneous Localization and Mapping)

Ensure b2_bringup is already running.

Launch SLAM:

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

ROS_DOMAIN_ID=10 ros2 run nav2_map_server map_saver_cli -f /opt/mybotshop/src/mybotshop/b2_nav2/maps/custom_map_2 --ros-args --remap map:=/b2_unit_001/map

After saving the map, rebuild your workspace:

colcon build --symlink-install

Then source your environment:

source /opt/mybotshop/install/setup.bash

B2 Auto-Startup (Optional)

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

To check startup status:

sudo service b2-<service_name> status

Legend:

Red marker – Service failed
Green marker – Service running correctly
Grey marker – Service not started

To restart a failed or inactive service:

sudo service b2-<service_name> restart

To modify the upstart job or add new launch files, update:

b2_bringup/system.launch.py

Then install the new startup configuration:

ros2 run b2_bringup startup_installer.py

B2 Autonomous Vacuum Demo

Launch mission detection and movement:

ros2 launch b2_vision_action mission.launch.py

To save training images for RoboFlow dataset:

ros2 run b2_vision_action libimagecapture.py

Train the vision model:

python3 train.py

To update motion behavior, modify:

b2_vision_action/b2_vision_action/librosnode.py

For additional control options, open the webserver (replace IP accordingly):

http://192.168.68.168:9000/console_page

B2 Gazebo Fortress Simulation

B2 Gazebo

Refer to GZ ROS2 Control documentation for advanced modifications.

B2 Simulation

Launch B2 Fortress simulation:

ros2 launch b2_gazebo b2_fortress_simulation.launch.py

B2W Simulation

Launch B2W Fortress simulation:

ros2 launch b2_gazebo b2w_fortress_simulation.launch.py

Cleanup After Simulation

To kill the Gazebo session:

ros2 run b2_gazebo kill_gz.sh

B2 Effort & Trajectory Control

Effort Trajectory Control Example

Send joint trajectory to the robot:

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 Example

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]}"

Effort Control Example (Disabled)

Affected Joints:

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

Move Joints:

ros2 topic pub -1 /joint_effort_controller/commands std_msgs/msg/Float64MultiArray "{
    data: [
    -10.0, -30.0, 70.0,
     10.0, -30.0, 70.0,
    -10.0, -30.0, 70.0,
     10.0, -30.0, 70.0]
}"

Zero Effort to Joints:

ros2 topic pub -1 /joint_effort_controller/commands std_msgs/msg/Float64MultiArray "{
    data: [
    0.0, 0.0, 0.0,
    0.0, 0.0, 0.0,
    0.0, 0.0, 0.0,
    0.0, 0.0, 0.0]
}"

Position Control Example (Disabled)

Set Zero Position:

ros2 topic pub -1 /joint_position_controller/commands std_msgs/msg/Float64MultiArray "{
    data: [
    0.0, 0.0, 0.0,
    0.0, 0.0, 0.0,
    0.0, 0.0, 0.0,
    0.0, 0.0, 0.0]
}"

Position Trajectory Control (Disabled)

ros2 action send_goal /joint_trajectory_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: [1.57, 1.57, 1.57, 1.57, 1.57, 1.57, 1.57, 1.57, 1.57, 1.57, 1.57, 1.57],
        time_from_start: {sec: 1, nanosec: 0}
      }
    ]
  }
}"

B2 Xacro to URDF

Generate URDF from Xacro:

export B2_DESC=1

ros2 run xacro xacro /home/administrator/projects/quadrupeds/qre_b2/src/mybotshop/b2_description/xacro/robot.xacro > /home/administrator/projects/quadrupeds/qre_b2/src/mybotshop/b2_description/xacro/b2.urdf

ros2 run xacro xacro /opt/mybotshop/src/mybotshop/ascento_description/xacro/robot.xacro > /opt/mybotshop/src/mybotshop/ascento_description/xacro/ascento.urdf

B2 Installation

B2 Nvidia Board

Set hostname and directory:

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

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')"

Run installer:

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

Build ROS2 workspace:

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

Update .bashrc:

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

Host PC (Ubuntu 20.04 with ROS2 Humble)

Ensure ROS2 Humble is installed but not sourced before first run.
Install dependencies:

./b2_install.bash

Create workspace and clone qre_b2:

Place in: /opt/mybotshop
Build Cyclone DDS:

colcon build --packages-select cyclonedds

Source workspace:

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

Build repository twice:

colcon build --symlink-install

Source the B2 bringup config:

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

Configure static IP and network interface settings in setup.bash.

After Setup

To initialize environment after setup:

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

B2 Miscellaneous

Sync Host ↔ 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

B2 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

B2 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.

B2 Network Interface

B2 IP Addresses

IP Reference

Static Network Connection

Network Connection

B2 Quick Start

B2 Drivers Startup

B2 Tele-operation

B2 Mode Activation

B2 Sensors

Realsense D435i

Realsense Configuration

B2 ROS Packages

B2 Webserver

Front Camera

Rear Camera

B2 Navigation

Odometric Navigation

Map Navigation

SLAM (Simultaneous Localization and Mapping)

B2 Auto-Startup (Optional)

B2 Autonomous Vacuum Demo

B2 Gazebo Fortress Simulation

B2 Gazebo

B2 Simulation

B2W Simulation

Cleanup After Simulation

B2 Effort & Trajectory Control

Effort Trajectory Control Example

B2W Wheeled Movement Example

Effort Control Example (Disabled)

Position Control Example (Disabled)

Position Trajectory Control (Disabled)

B2 Xacro to URDF

B2 Installation

B2 Nvidia Board

Host PC (Ubuntu 20.04 with ROS2 Humble)

After Setup

B2 Miscellaneous

Sync Host ↔ Unitree PC

SSH Key Setup

B2 Camera Streaming

B2 Software Updates