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.

_images/go2_lan_port.png — The Ethernet port at the back of the GO2 can be utilized for setting up communication via LAN.

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.

Change the connection to Manual in the IPv4 settings.
Set the Address IP as 192.168.123.51 and the Netmask as 24.
Click save and restart your network.

After a successful connection, check the host’s local IP by typing in the Host PC’s terminal:

ifconfig

Next, ping the robot:

ping 192.168.123.18

Access the robot via SSH:

ssh -X unitree@192.168.123.18

The default password is:

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 Network Interface
Secondly, open several ssh sessions into the go2 via

ssh -X unitree@192 .168.123.18

Note

Verify that the robot is processing information by typing the command in an ssh session.

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:

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:

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

ros2 service call /go2/modes go2_srvs/srv/Go2Modes request_data:\ recovery_stand

Example of standing down

ros2 service call /go2/modes go2_srvs/srv/Go2Modes request_data:\ stand_down

Example of changing light level 0-10

ros2 service call /go2/light go2_srvs/srv/Go2Light light_level:\ 3

Example of activating mode

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:

sudo service ros2 status

Lie down the robot

ros2 service call /go2/modes go2_srvs/srv/Go2Modes request_data:\ stand_down

Put motors in damp state

ros2 service call /go2/modes go2_srvs/srv/Go2Modes request_data:\ damp

Run low-level example:

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.

_images/go2_slam_1.gif — Move the robot slowly when building the map

Launch:

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:

cd/home/unitree/ros2_ws/src/go2_navigation/maps/

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):

colcon build --symlink-install

Then source the environment:

source /home/$USER/ros2_ws/install/setup.bash

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.

_images/go2_slam_1.png — Select the **2D Pose Estimate** and click and drag to where the robot corresponds in the map/

_images/go2_slam_2.png — 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):

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

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.

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:

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.

The red marker in the service indicates that the startup job has failed.
Green marker indicates everything is working correctly.
Grey marker indicates that the service has not started yet.

In case of red or grey marker, you may restart the service via:

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.

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

Dashboard

Enable the GO2 ROS2 Services
Disable the GO2 ROS2 Services
Record System GO2 logs

System

View GO2 external PC system status.
The battery only runs if the ROS2 drivers are enabled from the dashboard

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

Remote Desktop

On-board screen of the Unitree GO2’s computer

Navi Indoor

Disabled

Navi Outdoor

Disabled

Steamdeck

Please follow the instructions carefully in here to start the GO2 Steamdeck.
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

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.
The web browser will automatically open and take you to https://192.168.123.18:9000.
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.
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:

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:

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:

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

go2_depth_camera/launch/realsense_d405.launch.py

Mid360 Lidar

To activate the Livox Mid360 Lidar, launch:

ros2 launch go2_livox system.launch.py

By default the Livox Mid360 is off.

SIYI ZT30

Gimbal velocity control

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

ros2 service call /$GO2_NS/zt30/camera_mode go2_interface/srv/CameraMode '{camera_mode: 0}'

Thermal

ros2 service call /$GO2_NS/zt30/camera_mode go2_interface/srv/CameraMode '{camera_mode: 8}'

Take photo

ros2 service call /$GO2_NS/zt30/trigger_photo std_srvs/srv/Trigger {}

Start Recording

ros2 service call /$GO2_NS/zt30/trigger_video std_srvs/srv/Trigger {}

Zoom in

ros2 service call /$GO2_NS/zt30/zoomin_control std_srvs/srv/Trigger {}

Zoom Out

ros2 service call /$GO2_NS/zt30/zoomout_control std_srvs/srv/Trigger {}

Manipulation

D1

D1 Driver

ROS_DOMAIN_ID=10 ros2 launch d1_controller controller.launch.py

D1 Enable Motors

ROS_DOMAIN_ID=10 ros2 service call /$GO2_NS/d1/enable_load std_srvs/srv/SetBool "{data: true}"

D1 Disable Motors

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

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

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

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

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

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

ros2 launch go2_manipulation moveit2.launch.py

OM Commands

Note

Be sure to update the namespace accordingly if applicable!

Test the driver

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)

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

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!)

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)

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

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

ros2 launch open_manipulator_x_controller open_manipulator_x_controller.launch.py

Teleop open manipulator x

ros2 run open_manipulator_x_teleop teleop_keyboard

Lidar - Obstacle Avoidance

_images/obstacle_avoidance.png — 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.

ROS_DOMAIN_ID=10 ros2 service call /$GO2_NS/obstacle_avoidance_mode go2_interface/srv/Go2Modes '{request_data: enable}'

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

ros2 launch go2_gazebo go2_fortress_simulation.launch.py

GO2W Gazebo

Update the accessories.xacro with the wheels

ros2 launch go2_gazebo go2_fortress_simulation.launch.py

GO2/GO2-W Effort Trajectory Control Example

Robot Movement Example

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

ros2 topic pub /velocity_controller/commands std_msgs/msg/Float64MultiArray "{
   data: [-1.0, -1.0, -1.0, -1.0]}"

Move backward

ros2 topic pub /velocity_controller/commands std_msgs/msg/Float64MultiArray "{
   data: [10.0, 10.0, 10.0, 10.0]}"

Stop Moving

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

'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

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

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

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

ros2 run go2_gazebo kill_gz.sh

Robot Interface

Network Interface

IP Addresses

Network Verification

Visualization

Tele-operation

Mode Activation

Low-Level Control

Navigation

Simultaneous Localization and Mapping (SLAM)

Odometric Navigation

Map Navigation

Drivers AutoStartup

Startup (Optional)

Webserver

Login

Dashboard

System

Console

Remote Desktop

Navi Indoor

Navi Outdoor

Steamdeck

Sensors

Intel Realsense D435i

Intel Realsense D405

Mid360 Lidar

SIYI ZT30

Manipulation

D1

D1 Driver

D1 Enable Motors

D1 Disable Motors

D1 Trajectory Control

Open Manipulator (OM)

OM Driver

OM Commands

Open Manipulator X (MYBOTSHOP Independent)

Lidar - Obstacle Avoidance

Simulation

Issac Sim

Gazebo (ROS2 Humble)

GO2 Gazebo

GO2W Gazebo

GO2/GO2-W Effort Trajectory Control Example

GO2W Wheeled Example

Effort Control Example (Disabled)

Position Control Open Manipulator X

Cleanup Gazebo