Quick-Start

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)

sudo su
source catkin_ws/devel/setup.bash
roslaunch go1_bringup bringup.launch

  • Launch teleop

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Low-level Mode

  • Launch Low-level driver (LAN)

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)

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.

  1. Launch navigation driver

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.

  1. Launch visualizer

roslaunch go1_viz view_robot.launch

You can now add point clouds and the raw_rgb_image to view the streamed data.

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:

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

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

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):

ssh -X pi@192.168.12.1
123

  • To connect with the on-board PC (LAN):

ssh -X pi@192.168.12.1
123

  • To connect with the nvidia1 (LAN):

ssh -X unitree@192.168.123.13
123

  • To connect with the nvidia2 (LAN):

ssh -X unitree@192.168.123.14
123

  • To connect with the nvidia3 (LAN):

ssh -X unitree@192.168.123.15
123