Robot Interface =============== Instructions for interfacing with the robot using **Ubuntu 20.04** and **ROS2 Foxy**. This procedure should be followed after setting up and pairing with the GO2 Edu. Furthermore, all of the GO2’s functionality should be verified via the app. .. figure:: media/figures/go2_lan_port.png :width: 100% :align: center The Ethernet port at the back of the GO2 can be utilized for setting up communication via LAN. .. _static-network-connection: Network Interface ================= For the first time, one needs to connect through a **LAN** cable to configure the robot’s network. To create a static connection in your PC (not the robots), in Ubuntu go to Settings → **Network** then click on + and create a new connection. 1. Change the connection to **Manual** in the **IPv4** settings. 2. Set the **Address** IP as **192.168.123.51** and the **Netmask** as **24**. 3. Click save and restart your network. After a successful connection, check the host’s local IP by typing in the Host PC’s terminal: .. code:: bash ifconfig Next, ping the robot: .. code:: bash ping 192.168.123.18 Access the robot via SSH: .. code:: bash ssh -X unitree@192.168.123.18 The default password is: .. code:: bash 123 IP Addresses ------------ +--------------+-----------------+-----------+ | Robot | IP Addresses | Password | +==============+=================+===========+ | GO2 MCU | 192.168.123.161 | \- | +--------------+-----------------+-----------+ | GO2 External | 192.168.123.18 | 123 | +--------------+-----------------+-----------+ | GO2 Router | 192.168.123.100 | mybotshop | +--------------+-----------------+-----------+ | GO2 Steamdeck| 192.168.123.150 | mybotshop | +--------------+-----------------+-----------+ .. warning:: Sometimes other networks can cause disruptions when connecting to the GO2. It is best to have only your connection to the robot active and all others inactive. Network Verification -------------------- • Firstly, connect to the GO2 as described in the Network section :ref:`static-network-connection` • Secondly, open several ssh sessions into the go2 via .. code:: bash ssh -X unitree@192 .168.123.18 .. note:: Verify that the robot is processing information by typing the command in an ssh session. .. code:: bash ros2 topic echo /sportmodestate .. note:: If data is displayed then it means that the drivers are running. Visualization ============= You can view the GO2’s current state by typing in one of the ssh sessions: .. code:: bash ros2 launch go2_viz view_robot.launch.py Tele-operation ============== You can teleoperate the GO2 by running the following in one of the ssh sessions: .. code:: bash ros2 run teleop_twist_keyboard teleop_twist_keyboard Mode Activation =============== Available GO2 Modes via ROS2 Services: - balance_stand - recovery_stand - stand_down - stand_up - stretch - damp - sit - rise_sit - front_jump - front_pounce - front_flip - stop_move Available GO2 Functionalities via ROS2 Services: - Light level : 0\-10 - Volume level : 0\-10 .. Note:: Pressing the tab button on the keyboard will autocomplete the service request. • Example of activating mode .. code:: bash ros2 service call /go2/modes go2_srvs/srv/Go2Modes request_data:\ recovery_stand • Example of standing down .. code:: bash ros2 service call /go2/modes go2_srvs/srv/Go2Modes request_data:\ stand_down • Example of changing light level 0-10 .. code:: bash ros2 service call /go2/light go2_srvs/srv/Go2Light light_level:\ 3 • Example of activating mode .. code:: bash ros2 service call /go2/volume go2_srvs/srv/Go2Volume volume_level:\ 4 .. Note:: At times the mode does not activate correctly such as stand, in those cases use the recovery stand. Low-Level Control ================= The low-level control for GO2 can be directly used via Unitree’s provided example in their `documentation `__. Running the provided **qre-go2** driver with the low-level commands from Unitree examples should both work concurrently. An example to test the low-level control is to suspend the go2. • Verify if the go2 bringup is running via: .. code:: bash sudo service ros2 status • Lie down the robot .. code:: bash ros2 service call /go2/modes go2_srvs/srv/Go2Modes request_data:\ stand_down • Put motors in damp state .. code:: bash ros2 service call /go2/modes go2_srvs/srv/Go2Modes request_data:\ damp • Run low-level example: .. code:: bash ros2 run go2_base go2_lowroscontrol This will move the **Rear Left** leg of the GO2 with a force of **1N.m**. An audible clicking sound can be heard if you try to move the GO2 left leg out of position. .. Note:: The GO2 low-level mode should only be used if you are familiar with low-level control, and gait planning and wish to create a new/custom controller for the GO2. The GO2 in low-level mode can easily be damaged if used incorrectly. Navigation ========== Simultaneous Localization and Mapping (SLAM) -------------------------------------------- To create a map for map-based navigation, the first step is to create a map of the environment. .. figure:: media/gifs/go2_slam_1.gif :width: 100% :align: center Move the robot slowly when building the map • Launch: .. code:: bash ros2 launch go2_navigation slam.launch.py • You can begin mapping using the *teleop* at **0.2m/s** with the keyboard and/or the provided Logitech controller. Once you are satisfied with your map you can export it by running the following command: .. code:: bash cd/home/unitree/ros2_ws/src/go2_navigation/maps/ .. code:: bash ros2 run nav2_map_server map_saver_cli -f map_ • Rebuild so that the maps can be found (This is required if the map name is not **map** otherwise it will directly work): .. code:: bash colcon build --symlink-install • Then source the environment: .. code:: bash source /home/$USER/ros2_ws/install/setup.bash Odometric Navigation -------------------- To navigate without creating a map, you can simply launch the odom navi and give goals in RVIZ. .. code:: bash ros2 launch go2_navigation odom_navi.launch.py Map Navigation -------------- This will automatically take in the map created and save from the SLAM being map . If the map has been named something other, then in go2 navigation, the parameters have to be updated. .. figure:: media/figures/go2_slam_1.png :width: 100% :align: center Select the **2D Pose Estimate** and click and drag to where the robot corresponds in the map/ .. figure:: media/figures/go2_slam_2.png :width: 100% :align: center Once the robot is in the estimated location, it should self correct when the robot is moving as shown • Ensure the map is generated and available in the ros package (i.e. after the map is saved, you have placed and performed **colcon build**): .. code:: bash ros2 launch go2_navigation map_navi.launch.py Drivers AutoStartup =================== .. important:: The go2 bringup system launch is not required if the go2 startup has been installed. This can be verified by typing in the terminal .. code:: bash sudo service ros2 status If it is available and green, then do not launch the **go2_bringup** as it is running in the background. Launch the go2 ros driver the communicates and publishes the state of the robot joints. .. code:: bash ros2 launch go2_bringup system.launch.py Startup (Optional) ------------------ The GO2 ordinarily does not have a startup job unless otherwise specified (In this case the GO2 has a startup job). The GO2 launches the **go2_bringup system.launch.py**. To verify if the startup job is available in GO2. Run the command: .. code:: bash sudo service ros2 status .. warning:: If an error such as **Unit ros2.service could not be found.**, then it means that there is no startup installed. 1. The red marker in the service indicates that the startup job has failed. 2. Green marker indicates everything is working correctly. 3. Grey marker indicates that the service has not started yet. In case of red or grey marker, you may restart the service via: .. code:: bash sudo service ros2 restart If you want to modify the upstart job or add other ROS launch files to it then it is recommended to add your changes to the main upstart file i.e. **system.launch.py** located in the **go2_bringup** package. Once done, save the file and run the following command to update startup job. .. code:: bash ros2 run go2_bringup startup_installer.py Webserver ========= This module should come pre-installed for heavy integration projects. It should be accessible directly at `http://192.168.123.18:9000/ `_ or the WiFi ip to which the robot is connected. The GO2 webserver can be configured via the config file in **go2_webserver** ros2 package located in **/opt/mybotshop/src/mybotshop/go2_webserver/config/robot_webserver.yaml** Login ----- .. figure:: media/webserver/web_login.png :width: 100% :align: center | Dashboard --------- - Enable the GO2 ROS2 Services - Disable the GO2 ROS2 Services - Record System GO2 logs .. figure:: media/webserver/web_dashboard.png :width: 100% :align: center | System ------ - View GO2 external PC system status. - The battery only runs if the ROS2 drivers are enabled from the dashboard .. figure:: media/webserver/web_system.png :width: 100% :align: center | Console ------- - Movement of the Unitree GO2 - Switch between Gaits - Adapatable to new ros2 services - Record ROS2 bags - Access GO2 external speaker if available - The console only works if the ROS2 drivers are enabled from the dashboard .. figure:: media/webserver/web_console.png :width: 100% :align: center | Remote Desktop -------------- - On-board screen of the Unitree GO2's computer .. figure:: media/webserver/web_vnc.png :width: 100% :align: center | Navi Indoor ----------- - Disabled .. figure:: media/webserver/web_nav_indoor.png :width: 100% :align: center | Navi Outdoor ------------ - Disabled Steamdeck ========= 1. Please follow the instructions carefully in here to start the GO2 `Steamdeck `_. 2. Connect to the custom router of the Go2, it may take a few minutes on startup of the robot. - The IP of the steamdeck is `192.168.123.150` - The IP of the router is `192.168.123.100` - The IP of the Unitree Go2 is `192.168.123.18` 3. Once the joystick is opened hold **L1** and use the **left** and **right** joystick to move the robot. - You can change to different movement styles (gaits) for the go2 via the web browser as mentioned below in the **console** tab. 4. The web browser will automatically open and take you to `https://192.168.123.18:9000 `_. 5. The drivers on GO2 are off by default. You can click on restart all to start all ROS2 services enabling control via the **steamdeck+ros2**. 6. The console menu can be used to change between the different gaits. Additionally, more services can be added in `/opt/mybotshop/src/mybotshop/go2_webserver/go2_webserver/libroscustom.py` Sensors ======= Intel Realsense D435i --------------------- • To launch the Realsense d435i, launch: .. code:: bash ros2 launch go2_depth_camera realsense_d435i.launch.py • By default the Realsense D435i is off. • The launch file is configured to enable continuous depth stream information from the Realsense d435i without lag. To further change parameters, simply change the configuration in the: .. code:: bash go2_depth_camera/launch/realsense_d435i.launch.py Intel Realsense D405 -------------------- .. Note:: If launching both realsense cameras. Launch them in separate terminals with 10-second delay. Ensure that in their launch files, their serial numbers are assigned. • To launch the Realsense D405, launch: .. code:: bash ros2 launch go2_depth_camera realsense_d405.launch.py • By default the Realsense D405 is off. • The launch file is configured to enable continuous depth stream information from the Realsense D405 without lag. To further change parameters, simply change the configuration in the .. code:: bash go2_depth_camera/launch/realsense_d405.launch.py Mid360 Lidar ------------ • To activate the Livox Mid360 Lidar, launch: .. code:: bash ros2 launch go2_livox system.launch.py • By default the Livox Mid360 is off. SIYI ZT30 --------- - Gimbal velocity control .. code:: bash ros2 topic pub /$GO2_NS/zt30/gimbal/control/cmd go2_interface/msg/CameraGimbalCmd '{yaw: 10, pitch: 0}' - Select Camera Mode 1. Main: Wide, Sub: Zoom (Default) 2. HD Wide | Thermal Zoom 3. HD Zoom | HD Wide 4. HD Wide 5. HD Wide | PIP (Wide Main, Zoom Sub) 6. HD Wide | PIP (Zoom Main, Wide Sub) 7. HD Wide | Dual-split (Wide & Zoom) 8. Thermal Zoom | Thermal, Sub: Zoom 9. Main: Thermal, Sub: Wide 10. Thermal only 11. Dual-split (Thermal + Visible) 12. PIP (Thermal Main, Zoom Sub) - Normal Camera .. code:: bash ros2 service call /$GO2_NS/zt30/camera_mode go2_interface/srv/CameraMode '{camera_mode: 0}' - Thermal .. code:: bash ros2 service call /$GO2_NS/zt30/camera_mode go2_interface/srv/CameraMode '{camera_mode: 8}' - Take photo .. code:: bash ros2 service call /$GO2_NS/zt30/trigger_photo std_srvs/srv/Trigger {} - Start Recording .. code:: bash ros2 service call /$GO2_NS/zt30/trigger_video std_srvs/srv/Trigger {} - Zoom in .. code:: bash ros2 service call /$GO2_NS/zt30/zoomin_control std_srvs/srv/Trigger {} - Zoom Out .. code:: bash ros2 service call /$GO2_NS/zt30/zoomout_control std_srvs/srv/Trigger {} Manipulation ============ D1 --- D1 Driver ^^^^^^^^^ .. code:: bash ROS_DOMAIN_ID=10 ros2 launch d1_controller controller.launch.py D1 Enable Motors ^^^^^^^^^^^^^^^^ .. code:: bash ROS_DOMAIN_ID=10 ros2 service call /$GO2_NS/d1/enable_load std_srvs/srv/SetBool "{data: true}" D1 Disable Motors ^^^^^^^^^^^^^^^^^ .. code:: bash ROS_DOMAIN_ID=10 ros2 service call /$GO2_NS/d1/enable_load std_srvs/srv/SetBool "{data: false}" D1 Trajectory Control ^^^^^^^^^^^^^^^^^^^^^ .. note:: All angles are in radian except for gripper - Joint poses intuitively .. code:: bash d1_link1_joint : base rotation d1_link5_joint : gripper pitch d1_link6_joint : gripper roll d1_link_l_joint : gripper grasp (Max:1.0, Min:-1.0) - Home position .. code:: bash ROS_DOMAIN_ID=10 ros2 action send_goal /$GO2_NS/d1/follow_joint_trajectory control_msgs/action/FollowJointTrajectory " trajectory: joint_names: ['d1_link1_joint', 'd1_link2_joint', 'd1_link3_joint', 'd1_link4_joint', 'd1_link5_joint', 'd1_link6_joint', 'd1_link_l_joint'] points: - positions: [0.0, -1.0, 1.047, 0.0, 0.0, 0.0, 1.0] time_from_start: {sec: 1, nanosec: 0} " - Stand position .. code:: bash ROS_DOMAIN_ID=10 ros2 action send_goal /$GO2_NS/d1/follow_joint_trajectory control_msgs/action/FollowJointTrajectory " trajectory: joint_names: ['d1_link1_joint', 'd1_link2_joint', 'd1_link3_joint', 'd1_link4_joint', 'd1_link5_joint', 'd1_link6_joint', 'd1_link_l_joint'] points: - positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0] time_from_start: {sec: 1, nanosec: 0} " - Custom position .. code:: bash ROS_DOMAIN_ID=10 ros2 action send_goal /$GO2_NS/d1/follow_joint_trajectory control_msgs/action/FollowJointTrajectory " trajectory: joint_names: ['d1_link1_joint', 'd1_link2_joint', 'd1_link3_joint', 'd1_link4_joint', 'd1_link5_joint', 'd1_link6_joint', 'd1_link_l_joint'] points: - positions: [0.0, -0.4, 1.4, 0.0, 0.0, 0.0, 1.0] time_from_start: {sec: 1, nanosec: 0} " Open Manipulator (OM) --------------------- OM Driver ^^^^^^^^^ - Start Open-manipulator custom ROS driver .. code:: bash ros2 launch go2_manipulation openmanipulator.launch.py This should always be running when using the provided moveit and/or joint trajectories - Launch moveit and state publisher .. code:: bash ros2 launch go2_manipulation moveit2.launch.py OM Commands ^^^^^^^^^^^ .. note:: Be sure to update the namespace accordingly if applicable! - Test the driver .. code:: bash ROS_DOMAIN_ID=10 ros2 action send_goal /$GO2_NS/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 (Must be done when turning off) (GO2 Prior to 06 March 2025) .. code:: 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:: bash ROS_DOMAIN_ID=10 ros2 action send_goal /$GO2_NS/open_manipulator/joint_trajectory_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory -f "{ trajectory: { joint_names: [joint1, joint2, joint3, joint4], points: [ { positions: [0.0, -0.2, -0.1, -0.24], time_from_start: { sec: 1 } }, ] } }" - Home position (Must be done when turning off) (GO2 After 06 March 2025 - Stl will be added in Go2 Description soon!) .. code:: bash ROS_DOMAIN_ID=10 ros2 action send_goal /$GO2_NS/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 (Must be done when turning off) .. code:: bash ROS_DOMAIN_ID=10 ros2 action send_goal /$GO2_NS/open_manipulator/gripper_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory -f "{ trajectory: { joint_names: [gripper], points: [ { positions: [1.0], time_from_start: { sec: 2 } }, ] } }" - Open gripper .. code:: bash ROS_DOMAIN_ID=10 ros2 action send_goal /$GO2_NS/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 Manipulator X (MYBOTSHOP Independent) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - Independent launch of open manipulator x .. code:: bash ros2 launch open_manipulator_x_controller open_manipulator_x_controller.launch.py - Teleop open manipulator x .. code:: bash ros2 run open_manipulator_x_teleop teleop_keyboard Lidar - Obstacle Avoidance ========================== .. figure:: media/figures/obstacle_avoidance.png :width: 100% :align: center Lidar Based Obstacle Avoidance A ros2 package that enables obstacle avoidance using the Mid360 Lidar. The obstacle avoidance can be enabled/disabled via a ros2 service. The inner zone will stop the robot if an obstacle is detected, while the outer zone will slow down the robot. .. code:: bash ROS_DOMAIN_ID=10 ros2 service call /$GO2_NS/obstacle_avoidance_mode go2_interface/srv/Go2Modes '{request_data: enable}' .. code:: bash ROS_DOMAIN_ID=10 ros2 service call /$GO2_NS/obstacle_avoidance_mode go2_interface/srv/Go2Modes '{request_data: disable}' Simulation ========== Issac Sim --------- .. note:: Instructions for usage are in the `humble` branch `qre-go2-humble `_ Gazebo (ROS2 Humble) -------------------- Update the `robot.xacro` with the gazebo extension controllers GO2 Gazebo ^^^^^^^^^^ .. code:: bash ros2 launch go2_gazebo go2_fortress_simulation.launch.py GO2W Gazebo ^^^^^^^^^^^ Update the accessories.xacro with the wheels .. code:: bash ros2 launch go2_gazebo go2_fortress_simulation.launch.py GO2/GO2-W Effort Trajectory Control Example ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - Robot Movement Example .. code:: bash 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} } ] } }" GO2W Wheeled Example ^^^^^^^^^^^^^^^^^^^^ - Move forward .. code:: bash ros2 topic pub /velocity_controller/commands std_msgs/msg/Float64MultiArray "{ data: [-1.0, -1.0, -1.0, -1.0]}" - Move backward .. code:: bash ros2 topic pub /velocity_controller/commands std_msgs/msg/Float64MultiArray "{ data: [10.0, 10.0, 10.0, 10.0]}" - Stop Moving .. code:: bash ros2 topic pub /velocity_controller/commands std_msgs/msg/Float64MultiArray "{ data: [0.0, 0.0, 0.0, 0.0]}" Effort Control Example (Disabled) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - Corresponding Joints .. code:: bash '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 .. code:: bash 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] }" - 0 effort Joints .. code:: bash 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 Open Manipulator X ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ .. code:: bash ros2 action send_goal /joint_position_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory -f "{ trajectory: { joint_names: [joint1, joint2, joint3, joint4, gripper], points: [ { positions: [0.0, -1.57, 1.57, 0.5, 0.0], time_from_start: { sec: 1 } }, ] } }" Cleanup Gazebo -------------- .. code:: bash ros2 run go2_gazebo kill_gz.sh