GO2 Steamdeck ============= Quick Start ----------- This guide provides instructions for interfacing with the **Unitree GO2 Edu** robot using **Ubuntu 20.04** and **ROS2 Foxy**. .. image:: media/figures/go2_foxy_1.jpg :alt: Go2 :width: 50% :align: center :class: mbsrounded | .. note:: - Ensure that you have already completed the setup and pairing with your GO2 Edu. - Verify all functionality using the mobile app before continuing. - Initial setup instructions can be found in the **GO2 Docs**. - This guide builds upon the information available in those docs. .. warning:: The documentation below is valid **only for the GO2 Edu version** (tested until 08-July-2025). .. warning:: Unitree is constantly updating their firmware, and at times changing naming conventions may cause breakage in some newer firmwares. If this occurs, either **submit an issue** or **create a pull request** with the correct feature updates. Static Network Connection ------------------------- For the **first-time connection**, you must configure the robot’s network via a LAN cable. 1. On your **PC** (not on the robot), open: **Settings → Network → Add (+) New Connection** 2. In the **IPv4** settings: - Change the method to **Manual** - Set the **IP Address**: ``192.168.123.51`` - Set the **Netmask**: ``24`` - Save and restart your network connection 3. Confirm that the host's local IP is configured correctly: .. code-block:: bash ifconfig 4. Ping the robot to verify the connection: .. code-block:: bash ping 192.168.123.18 5. Access the robot via **SSH**: .. code-block:: bash ssh -X unitree@192.168.123.18 Default password: .. code-block:: none 123 IP Addresses ------------ .. list-table:: :header-rows: 1 :widths: 20 25 20 20 * - **IP Address** - **Device** - **Username** - **Password** * - 192.168.123.161 - GO2 MCU - x - x * - 192.168.123.18 - GO2 Auxiliary PC - unitree - 123 * - 192.168.123.18:9000 - GO2 Webserver MBS - x - mybotshop .. warning:: Other active networks may interfere with your connection. For best results, disconnect from all other networks and connect **only** to the GO2. Network Connection ------------------ **Connection via LAN:** .. code-block:: bash ssh -X unitree@192.168.123.18 When starting up, keep in mind: - The **Go2 wrapper** operates on ``ROS_DOMAIN_ID=10``. Launch files automatically use **Domain ID 10**. - The **namespace** can be changed to match your robot’s ID for multi-robot systems. Drivers Startup --------------- - After completing installation, the ROS2 packages will run in the background (if pre-installed by the **mybotshop** team). .. important:: - To check which packages must run, see the ``go2_bringup`` startup script. - Service names are mentioned there and can be referenced directly. Example: .. code-block:: bash sudo service go2-webserver status ros2 launch go2_webserver webserver.launch.py - Ensure duplicate services are not running simultaneously. Close unnecessary services before launching new ones. .. image:: media/figures/go2_steamdeck_2.jpg :alt: Go2 :width: 80% :align: center :class: mbsrounded | Gaits ----- Available gait modes: **Normal Trot** (recommended for Nav2, SLAM applications): .. code-block:: bash ROS_DOMAIN_ID=10 ros2 service call /go2_unit_21576/modes go2_interface/srv/Go2Modes "{request_data: 'gait_type_classic'}" **Flat Terrain Mode** (for flat environments): .. code-block:: bash ROS_DOMAIN_ID=10 ros2 service call /go2_unit_21576/modes go2_interface/srv/Go2Modes "{request_data: 'gait_type_flat_terrain'}" **Economic Trot** (long runs, battery conservation): .. code-block:: bash ROS_DOMAIN_ID=10 ros2 service call /go2_unit_21576/modes go2_interface/srv/Go2Modes "{request_data: 'gait_type_economic'}" **Fast Trot:** .. code-block:: bash ROS_DOMAIN_ID=10 ros2 service call /go2_unit_21576/modes go2_interface/srv/Go2Modes "{request_data: 'gait_type_trot_run'}" **A.I Trot:** .. code-block:: bash ROS_DOMAIN_ID=10 ros2 service call /go2_unit_21576/modes go2_interface/srv/Go2Modes "{request_data: 'gait_type_agile'}" Sports Mode ----------- .. important:: The **Sports Mode** feature is **deprecated** in **GO2 v2.2.1+** or with the latest firmware update. Switch to sports mode: .. code-block:: bash ROS_DOMAIN_ID=10 ros2 service call /go2_unit_21576/modes go2_interface/srv/Go2Modes "{request_data: 'sports_mode'}" Visualization ------------- Launch **RViz** visualization: .. code-block:: bash ros2 launch go2_viz view_robot.launch.py GO2 Tele-operation ------------------ Run teleoperation with keyboard: .. code-block:: bash ROS_DOMAIN_ID=10 ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/go2_unit_21576/cmd_vel ROS2 Modules ------------ This section describes the **ROS2 modules** available for the Unitree GO2 platform, their usage, and example commands. Webserver --------- The **GO2 Webserver** module comes pre-installed for heavy integration projects. It can be accessed directly via: - **LAN**: http://192.168.123.18:9000/ - **Wi-Fi**: The IP assigned to the robot The configuration file is located at: ``/opt/mybotshop/src/mybotshop/go2_webserver/config/robot_webserver.yaml`` Login ^^^^^ The login page allows authorized access to the GO2 webserver interface. .. image:: media/figures/web_login.png :alt: GO2 Webserver Login Dashboard ^^^^^^^^^ The **Dashboard** provides key system controls: - Enable or disable the GO2 ROS2 services. - Record system logs for debugging or analysis. .. image:: media/figures/web_dashboard.png :alt: GO2 Webserver Dashboard System ^^^^^^ The **System** page displays the external PC status of the Unitree GO2. - Battery status is only active when ROS2 drivers are enabled from the Dashboard. .. image:: media/figures/web_system.png :alt: GO2 Webserver System Status Console ^^^^^^^ The **Console** allows direct control over the Unitree GO2: - Move the robot and switch between different gaits. - Adaptable to new ROS2 services. - Record ROS2 bags for later playback. - Access the GO2 external speaker if available. .. image:: media/figures/web_console.png :alt: GO2 Webserver Console Remote Desktop ^^^^^^^^^^^^^^ Access the on-board screen of the GO2’s computer directly via the webserver. .. image:: media/figures/web_vnc.png :alt: GO2 Webserver Remote Desktop Navi Indoor ^^^^^^^^^^^ This feature is **coming soon**. .. image:: media/figures/web_nav_indoor.png :alt: GO2 Webserver Navi Indoor Navi Outdoor ^^^^^^^^^^^^ This feature is **coming soon**. LLM Interface ^^^^^^^^^^^^^ This feature is **coming soon**. Mode Activation --------------- The following **modes** are available via ROS2 services: - balance_stand - recovery_stand - stand_down - stand_up - stretch - damp - sit - rise_sit - front_jump - front_pounce - front_flip - stop_move .. note:: These functions can be extended in the ``go2_platform.cpp`` file to support new firmware features from the Unitree team. **Available functionalities via ROS2 services:** - **Light level:** 0–10 - **Volume level:** 0–10 Example — **Activating stand-up mode**: .. code-block:: bash ROS_DOMAIN_ID=10 ros2 service call /go2_unit_001/modes go2_interface/srv/Go2Modes "{request_data: 'stand_up'}" Wait a few seconds, then switch to balance stand: .. code-block:: bash ROS_DOMAIN_ID=10 ros2 service call /go2_unit_001/modes go2_interface/srv/Go2Modes "{request_data: 'balance_stand'}" Example — **Standing down**: .. code-block:: bash ROS_DOMAIN_ID=10 ros2 service call /go2_unit_001/modes go2_interface/srv/Go2Modes "{request_data: 'stand_up'}" .. note:: First use ``stand_up`` to remove balance mode, then ``stand_down``. This is required for the latest firmware and GO2-W. .. code-block:: bash ROS_DOMAIN_ID=10 ros2 service call /go2_unit_001/modes go2_interface/srv/Go2Modes "{request_data: 'stand_down'}" Example — **Changing light level (0–10):** .. code-block:: bash ROS_DOMAIN_ID=10 ros2 service call /go2_unit_21576/light go2_interface/srv/Go2Light "{light_level: 10}" Example — **Changing volume level (0–10):** .. code-block:: bash ROS_DOMAIN_ID=10 ros2 service call /go2_unit_21576/volume go2_interface/srv/Go2Volume "{volume_level: 4}" .. note:: Sometimes modes (e.g., ``stand``) may fail to activate. In such cases, use the **recovery stand** mode. Realsense Depth Cameras ----------------------- .. warning:: If running **both Realsense cameras**, launch them in **separate terminals** with a **10s delay** to avoid conflicts. **Realsense D405**: .. code-block:: bash ros2 launch go2_depth_camera realsense_d405.launch.py **Realsense D435i**: .. code-block:: bash ros2 launch go2_depth_camera realsense_d435i.launch.py .. note:: - By default, both **Realsense D435i** and **D405** are disabled. - The launch file is preconfigured to stream depth data continuously from D435i without lag. Modify parameters in: ``go2_depth_camera/launch/realsense_d4XX.launch.py`` .. image:: media/figures/go2_steamdeck_3.jpg :alt: Go2 :width: 50% :align: center :class: mbsrounded | Lidar Modules ------------- **Livox Mid360**: .. code-block:: bash ros2 launch go2_lidars livox_mid360.launch.py **Hesai Pandar XT-16**: .. code-block:: bash ros2 launch go2_lidars hesai.launch.py After launching, access the sensor’s web UI and configure: - **Spin rate**: 300 - **Return mode**: strongest return - **Azimuth**: 30 → 330 Fixposition Setup ----------------- Install dependencies: .. code-block:: bash sudo apt update sudo apt install libyaml-cpp-dev libboost-all-dev zlib1g-dev libeigen3-dev linux-libc-dev nlohmann-json3-dev **Build Fixposition:** .. code-block:: bash distrobox enter ros2_humble rm /opt/mybotshop/src/third_party/gps/07Aug2025_fixposition_humble/COLCON_IGNORE cp -r /opt/mybotshop/src/third_party/gps/07Aug2025_fixposition_humble /home/unitree/fixposition_humble cd /home/unitree/fixposition_humble source /opt/ros/humble/setup.bash ./setup_ros_ws.sh -r 2 ./create_ros_ws.sh /home/unitree/fixposition_humble_ws cd /home/unitree/fixposition_humble_ws colcon build --symlink-install --cmake-args -DBUILD_TESTING=OFF && source install/setup.bash **Run Fixposition:** .. code-block:: bash distrobox enter ros2_humble source /opt/ros/humble/setup.bash source /home/unitree/fixposition_humble_ws/install/setup.bash ros2 launch fixposition_driver_ros2 fixposition_humble.launch.py **Run converter (new terminal):** .. code-block:: bash ros2 launch odom_to_tf_ros2 odom_to_tf.launch.py Open Manipulator Control ------------------------ **Start the custom ROS driver:** .. code-block:: bash ros2 launch go2_manipulation openmanipulator.launch.py .. note:: This driver must always be running when using **MoveIt** or joint trajectories. **Launch MoveIt & State Publisher:** .. code-block:: bash ros2 launch go2_manipulation moveit2.launch.py Open Manipulator Commands ------------------------- .. note:: Update the namespace accordingly if required. **Test driver:** .. code-block:: bash ROS_DOMAIN_ID=10 ros2 action send_goal /go2_unit_001/open_manipulator/joint_trajectory_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory -f "{ trajectory: { joint_names: [joint1, joint2, joint3, joint4], points: [ { positions: [0.1, 0.1, 0.1, 0.1], time_from_start: { sec: 2 } }, { positions: [-0.1, -0.1, -0.1, -0.1], time_from_start: { sec: 4 } }, { positions: [0, 0, 0, 0], time_from_start: { sec: 6 } } ] } }" **Home position (before turning off, GO2 prior to 06 Mar 2025):** .. code-block:: bash ROS_DOMAIN_ID=10 ros2 action send_goal /go2_unit_001/open_manipulator/joint_trajectory_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory -f "{ trajectory: { joint_names: [joint1, joint2, joint3, joint4], points: [ { positions: [0.0, -1.4, 1.2, 1.2], time_from_start: { sec: 2 } }, ] } }" **Stand position:** .. code-block:: bash ROS_DOMAIN_ID=10 ros2 action send_goal /go2_unit_21576/open_manipulator/joint_trajectory_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory -f "{ trajectory: { joint_names: [joint1, joint2, joint3, joint4], points: [ { positions: [0.0, -0.2, -0.1, -0.24], time_from_start: { sec: 1 } }, ] } }" **Home position (GO2 after 06 Mar 2025):** .. code-block:: bash ROS_DOMAIN_ID=10 ros2 action send_goal /go2_unit_21576/open_manipulator/joint_trajectory_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory -f "{ trajectory: { joint_names: [joint1, joint2, joint3, joint4], points: [ { positions: [0.0, -1.7, 1.4, 1.2], time_from_start: { sec: 2 } }, ] } }" **Close gripper (before turning off):** .. code-block:: bash ROS_DOMAIN_ID=10 ros2 action send_goal /go2_unit_21576/open_manipulator/gripper_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory -f "{ trajectory: { joint_names: [gripper], points: [ { positions: [1.0], time_from_start: { sec: 2 } }, ] } }" **Open gripper:** .. code-block:: bash ROS_DOMAIN_ID=10 ros2 action send_goal /go2_unit_21576/open_manipulator/gripper_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory -f "{ trajectory: { joint_names: [gripper], points: [ { positions: [-1.0], time_from_start: { sec: 2 } }, ] } }" Navigation ---------- This section covers **SLAM**, **navigation**, **startup services**, and **simulation tools** for the Unitree GO2 robot. SLAM (Simultaneous Localization and Mapping) -------------------------------------------- .. warning:: The SLAM feature is **not yet ported** to the new system. 1. Ensure ``go2_bringup`` is running. 2. Launch SLAM: .. code-block:: bash ros2 launch go2_navigation slam.launch.py 3. Begin mapping using teleoperation at **0.2 m/s** (keyboard control recommended). 4. Once satisfied with your map, export it: .. code-block:: bash ROS_DOMAIN_ID=10 ros2 run nav2_map_server map_saver_cli -f /opt/mybotshop/src/mybotshop/go2_navigation/maps/custom_map 5. Rebuild so that custom maps can be located (required if the map name is **not `map_`**): .. code-block:: bash cd /opt/mybotshop/ && colcon build --symlink-install && source /opt/mybotshop/install/setup.bash Odometric Navigation -------------------- .. note:: The **Nav2 Goal Tool** and **Nav2 Goal Plugin** do not work due to namespace issues. Instead, use **2D Goal Pose** in RViz or custom scripts. Launch odometric navigation: .. code-block:: bash ros2 launch go2_navigation odom_navi.launch.py Map Navigation -------------- .. note:: The **Nav2 Goal Tool** and **Nav2 Goal Plugin** do not work due to namespace issues. Use **2D Goal Pose** or scripts instead. 1. Ensure a map is generated and available in the ROS package. (After saving, place the map in the correct location and rebuild with ``colcon build``.) 2. Launch map-based navigation: .. code-block:: bash ros2 launch go2_navigation map_navi.launch.py Startup Services ---------------- By default, the GO2 does **not** include a startup job unless explicitly configured. It only launches: ``go2_bringup/system.launch.py`` To verify if a startup service exists: .. code-block:: bash sudo service go2- status - **Error message**: ``Unit .service could not be found.`` → No startup service is installed. - **Markers**: +-----------+--------------------------------------------------+ | **Color** | **Meaning** | +===========+==================================================+ | Red | Startup job has **failed** | +-----------+--------------------------------------------------+ | Green | Service is **running correctly** | +-----------+--------------------------------------------------+ | Grey | Service has **not yet started** | +-----------+--------------------------------------------------+ Restart a service if red/grey: .. code-block:: bash sudo service go2- restart To modify or extend startup jobs, edit: ``go2_bringup/startup_installer.py`` Then update: .. code-block:: bash ros2 run go2_bringup startup_installer.py GO2 Steamdeck ------------- .. image:: media/gifs/steamdeck.webp :alt: Go2 :width: 100% :class: mbsrounded | Follow the initialization guide: `Steamdeck Initialization Docs `_ 1. Connect to the **custom router** of the GO2 (startup may take several minutes). **Default IP addresses:** +-------------------------+----------------------+ | **Device** | **IP Address** | +=========================+======================+ | Steamdeck | 192.168.123.150 | +-------------------------+----------------------+ | Router | 192.168.123.100 | +-------------------------+----------------------+ | Unitree GO2 | 192.168.123.18 | +-------------------------+----------------------+ 2. Once the joystick opens, hold **L1** and use the **left/right joysticks** to move the robot. 3. Change gaits via the **web browser console** (opens automatically at ``192.168.123.18:9000``). 4. By default, **ROS2 drivers are off**. Use *Restart All* to enable services for Steamdeck + ROS2 control. 5. Additional services can be added via: ``/opt/mybotshop/src/mybotshop/go2_webserver/go2_webserver/libroscustom.py`` +---------------------------------------------------+---------------------------------------------------+ | .. figure:: media/gifs/steamdeck_1.webp | .. figure:: media/gifs/steamdeck_2.webp | | :width: 100% | :width: 100% | | :align: center | :align: center | | | | +---------------------------------------------------+---------------------------------------------------+ GO2 Camera ---------- **Camera Calibration** .. note:: Calibration is already provided. Requires a **7x6 checkerboard**. Run calibration: .. code-block:: bash ROS_DOMAIN_ID=10 ros2 run camera_calibration cameracalibrator --size 8x6 --square 0.025 --camera /go2_unit_001/sensor/camera GO2 Isaac Sim ------------- .. note:: Instructions for usage are located in the **humble branch**: ``qre-go2-humble``. GO2 Gazebo Classic (Under Development) -------------------------------------- Launch Gazebo simulation: .. code-block:: bash ros2 launch go2_gazebo_classic simulation.launch.py Example — controlling GO2 in Gazebo: .. code-block:: bash ros2 run go2_platform go2_gazebo_demo GO2 Gazebo Citadel ------------------ .. important:: **Deprecated** Debugging & Miscellaneous ------------------------- This section provides instructions for **debugging, network setup, camera streaming, manipulator control, and recommended hardware enhancements**. Debugging --------- RQT GUI -------- Launch the RQT GUI for ROS2: .. code-block:: bash ROS_DOMAIN_ID=10 ros2 run rqt_gui rqt_gui --ros-args --remap tf:=/go2_unit_21576/tf --ros-args --remap tf_static:=/go2_unit_21576/tf_static TF Visualization ---------------- **View TF tree in RQT:** .. code-block:: bash ROS_DOMAIN_ID=10 ros2 run rqt_tf_tree rqt_tf_tree --force-discover --ros-args --remap tf:=/go2_unit_21576/tf --ros-args --remap tf_static:=/go2_unit_21576/tf_static **Generate TF frames diagram:** .. code-block:: bash ROS_DOMAIN_ID=10 ros2 run tf2_tools view_frames.py --force-discover --ros-args --remap tf:=/go2_unit_21576/tf --ros-args --remap tf_static:=/go2_unit_21576/tf_static Miscellaneous ------------- Internet via LAN ---------------- Connect the GO2 to a router with internet access via LAN: .. code-block:: bash sudo ip link set eth0 down && sudo ip link set eth0 up sudo dhclient eth0 Wait 10–30 seconds, then update packages: .. code-block:: bash sudo apt-get update Update date and time automatically: .. code-block:: bash sudo date -s "$(wget --method=HEAD -qSO- --max-redirect=0 google.com 2>&1 | sed -n 's/^ *Date: *//p')" Fix GO2 USB 2.0 → 3.0 Port (2024 Models) ---------------------------------------- 1. Backup the current device tree: .. code-block:: bash sudo cp /boot/dtb/kernel_tegra234-p3767-0000-p3768-0000-a0.dtb kernel_tegra234-p3767-0000-p3768-0000-a0.dtb.bak 2. Download the latest device tree: `Latest Equipment Tree `_ 3. Copy the updated device tree to the boot directory: .. code-block:: bash sudo cp kernel_tegra234-p3767-0000-p3768-0000-a0.dtb /boot/dtb/ -r 4. Restart the system for changes to take effect. Sync Host and GO2 Computers --------------------------- Synchronize source files using `rsync`: .. code-block:: bash rsync -avP -t --delete -e ssh src unitree@192.168.123.18://opt/mybotshop Camera Stream via Terminal (Non-ROS) ------------------------------------ View video stream directly from terminal (replace ``multicast-iface`` with the network interface, e.g., ``eth0``): .. code-block:: bash 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 **Faster version**: .. code-block:: bash gst-launch-1.0 udpsrc address=230.1.1.1 port=1720 multicast-iface=eth0 ! \ application/x-rtp, media=video, encoding-name=H264 ! \ rtph264depay ! queue max-size-buffers=1 ! h264parse ! queue ! avdec_h264 ! \ videoconvert ! autovideosink Open Manipulator X (Independent) -------------------------------- **Launch Open Manipulator X Controller:** .. code-block:: bash ros2 launch open_manipulator_x_controller open_manipulator_x_controller.launch.py **Teleoperate Open Manipulator X:** .. code-block:: bash ros2 run open_manipulator_x_teleop teleop_keyboard Enhancements ------------ WiFi Stick ---------- We recommend using a **long-range WiFi stick**, such as **TL-WN722N**, or any high-end long-range WiFi stick for remote operation. .. image:: media/figures/go2_wifistick.png :alt: Go2 :width: 90% :class: mbsrounded | Connection Hub -------------- For connecting a screen or expanding ports, we recommend a **USB-C hub** such as **Ugreen USB-C Hub with HDMI** for testing and debugging. Latest QRE GO2 Updates ---------------------- .. important:: The latest updates are available from the **qre_go2 GitHub repository**. If access is required, email **support@mybotshop.de** with your GitHub username and purchase ID.