Quick-Start =========== .. .. image:: media/low/flexible_joints.gif .. :width: 32.5% .. :alt: FlexibleJoints .. .. image:: media/low/squats.gif .. :width: 32.5% .. :alt: Squats .. .. image:: media/low/roll.gif .. :width: 32.5% .. :alt: Roll Quadruped Robotics Europe is a young, but fast growing startup in the field of legged robotics. In this documentation, the software overview of GO1 robot is shown. The software is currently under development. At the moment simples ros drivers are available for the robot along with simulation are available in Gazebo. As several variants of GO1 are provided with different hardware versions, the following video demonstrates operation of the software development kit `GO1 Operation `__ for the GO1. Quick-Start Teleop ------------------ A pre-configured GO1 can start its navigation via the following commands: .. attention:: Note that the current navigation utilizes unitrees innate controller and it does not currently perform terrain adaptibility. For that low-level-mode is required which is under development. - Launch High-level driver (LAN) .. code-block:: bash sudo su source catkin_ws/devel/setup.bash roslaunch go1_bringup bringup.launch - Launch teleop .. code-block:: bash rosrun teleop_twist_keyboard teleop_twist_keyboard.py Low-level Mode -------------- - Launch Low-level driver (LAN) .. code-block:: bash sudo su source catkin_ws/devel/setup.bash roslaunch go1_base base.launch working_mode:=low_level target_ip:=192.168.123.10 target_port:=8007 local_port:=8090 Quick-Start Autonomous Navigation --------------------------------- A pre-configured GO1 can start its navigation via the following commands: .. attention:: Note that the current navigation utilizes unitrees innate controller and it does not currently perform terrain adaptibility. For that low-level-mode is required which is under development. 1. Launch High-level driver (LAN) .. code-block:: bash sudo su source catkin_ws/devel/setup.bash roslaunch go1_base base.launch working_mode:=high_level target_ip:=192.168.123.161 target_port:=8082 local_port:=8090 .. note:: Odom is published by the driver but more sources of odom can be fused such as visual odometry which we generally provide with the Zed2i camera. Incase you need to perform odometry calculation with another camera `VINS_Fusion `__ is a good software to use. 2. Launch navigation driver .. code-block:: bash roslaunch go1_navigation go1_navigation.launch Now it is possible to give the robot navigation goals via movebase. This works only on high-level mode. 3. Launch visualizer .. code-block:: bash roslaunch go1_viz view_robot.launch You can now add point clouds and the raw_rgb_image to view the streamed data. .. _Networking: Network-Setup ============= - To create a static connection in your own PC, in Ubuntu go to ``Settings`` → ``Network`` then click on ``+`` icon and create a new connection. 1. The first task is to go to ``IPv4`` and change the connection to ``Manual``. 2. The second task is to put the Address IP as ``192.168.123.51`` and the Netmask as ``24``. - Click save and restart your network. Next is to connect the LAN cable to the robot. - After a successful connection, the host's local IP can be checked by: .. code:: bash ifconfig This should show the host IP which was assigned in the above step. Now its time to check if we can ping the robot or not, to do so type in your host pc .. code:: bash ping 192.168.123.161 After a successful ping, you can access the robot. Network-Connection ------------------ The GO1 has multiple networks and vary slightly, the following table shows the networks .. table:: GO1 network devices ================= ================ ======== Device Network Address Password ================= ================ ======== GO1-pi 192.168.123.161 123 GO1-pi (WiFi) 192.168.12.1 123 GO1-nvidia (Head) 192.168.123.13 123 GO1-nvidia (Body) 192.168.123.14 123 GO1-nvidia (Body) 192.168.123.15 123 GO1-MCU 192.168.123.10 N/A ================= ================ ======== Hotspot ~~~~~~~ GO1 has its own native hot-spot to which users can connect as well as an Ethernet port to access its on-board computers. Moreover, GO1 has the network address range of ``192.168.123.*``. The SSID of the Wifi network of GO1's hot-spot begins with **UnitreeRoboticsGO1-000**, where the 000 represent the GO1's model number and the default password is ``00000000`` or 8 zeros. Once connected to the WiFi network, one can access GO1's main pc ip address ``192.168.12.1``. To achieve this enter the command terminal of the computer that has connected to the WiFi hot-spot of the robot and enter the following: - To connect with the on-board PC (WiFi): .. code-block:: bash ssh -X pi@192.168.12.1 123 - To connect with the on-board PC (LAN): .. code-block:: bash ssh -X pi@192.168.12.1 123 - To connect with the nvidia1 (LAN): .. code-block:: bash ssh -X unitree@192.168.123.13 123 - To connect with the nvidia2 (LAN): .. code-block:: bash ssh -X unitree@192.168.123.14 123 - To connect with the nvidia3 (LAN): .. code-block:: bash ssh -X unitree@192.168.123.15 123