GO2 Nvidia Installation
=======================

.. note::

   This repository should already be available and built on GO2’s Nividia board if it has been configured by the MYBOTSHOP team.

• Clone this repository into the GO2’s Nvidia board.

• Run the bash install script.

• Then build the repository via

.. code:: bash

    colcon build --symlink-install 

• Once built remember to source the *install/setup.bash* and be sure to add the source to your workspace in the *.bashrc* file.

Host PC Installation
====================

Requires installation of **ROS2 Foxy** on **Ubuntu 20.04**. This is highly recommended if you wish to view the
RVIZ on your own computer without latency. All the instructions provided here are to be performed on
your own computer.

First Time Setup
----------------

.. important::

   Make sure the command **source /opt/ros/foxy/setup.bash** has not been activated

• Install Dependencies located in the *qre_go2/src*

.. code:: bash

   ./go2_install.bash 
   
• Make folder called **ros2_ws** in home directory and clone *foxy* branch of *qre_go2* into it.
 
• Then build Cyclone in the **ros2_ws** via.

.. code:: bash

   colcon build --packages-select cyclonedds 

• Source the work

.. code:: bash

   source install/setup.bash 

• Now source ros foxy distro via

.. code:: bash

   source /opt/ros/foxy/setup.bash 

• Next build the repository twice

.. code:: bash

   colcon build --symlink-install 

• Source the built ros workspace via:

.. code:: bash

   source /home/$USER/ros2_ws/install/setup.bash 
    
• Connect to *123* network with static ip as described in the Network section and then note down the network interface name.

• Edit and source *go2_bringup/config/setup.bash* with the corrected network interface e.g. **enp92s0**

• Then source the special configuration for the GO2

.. code:: bash

    source /home/$USER/ros2_ws/src/go2_bringup/setup.bash 

• Now if you are connected via LAN to the GO2 and you do ros2 topic list, the topics should be visible from the go2.

After First Time Setup
----------------------

• Once the first time setup is performed, then next time simply

.. code:: bash

    source /opt/ros/foxy/setup.bash 
    source / home /$USER/ros2_ws/src/go2_bringup/setup.bash

• You can now communicate with ros2 features in the go2. To test it out, launch

.. code:: bash

    ros2 launch go2_viz view_robot.launch.py