.. rubric:: Debugging Tips

When running RQt GUI with multiple robots in the same network, it's important to set a unique ROS_DOMAIN_ID for each robot to avoid communication conflicts. You can do this by exporting the ROS_DOMAIN_ID environment variable before launching RQt GUI. For example, to set the domain ID to 10, use the following command:

.. code-block:: bash

   ROS_DOMAIN_ID=10 ros2 run rqt_gui rqt_gui

This command ensures that RQt GUI communicates with the robot assigned to domain ID 10, preventing interference from other robots on the network.

.. rubric:: Dynamic Reconfigure

To adjust parameters on-the-fly using dynamic reconfigure, you can use the following command:

.. code-block:: bash

   ROS_DOMAIN_ID=10 ros2 run rqt_reconfigure rqt_reconfigure

.. rubric:: TF Tree

To visualize the TF tree of the H1 robot, you can use the following command:

.. code-block:: bash

   ROS_DOMAIN_ID=10 ros2 run rqt_tf_tree rqt_tf_tree --force-discover

.. rubric:: Video stream


To view the video stream from the H1's camera, you can use the following command:

.. 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