.. rubric:: Installation Robot

.. note::

   This repository should already be available and built on the H1's Nvidia board if it has been configured by the MYBOTSHOP team.

1. Clone this repository into the H1's Nvidia board.

2. Run the bash install script.

3. Build the repository by executing the following command:

   .. code-block:: bash

      colcon build --symlink-install && source install/setup.bash

4. After building, remember to source the `install/setup.bash`. Ensure you add the source command to your workspace in the `.bashrc` file.

.. rubric:: Installation External

.. note::

   **Important:** This process is necessary to enable Unitree SDK's DDS topics to appear. Without these steps, only the MYBOTSHOP package ROS2 topics will be visible. You can skip this procedure if you do not need the Unitree topics.

.. rubric:: Part 1

1. Navigate to the **unitree_sdk2** folder inside the **thirdparty** directory and execute the installation script:

   .. code-block:: bash

      cd thirdparty/unitree_sdk2
      sudo bash install.sh

2. Build the examples:

   .. code-block:: bash

      rm -rf build && mkdir build && cd build && cmake .. && make

3. You can now directly run high-level and low-level examples as explained in the Unitree H1 SDK documentation.

.. rubric:: Part 2


**Requirements:** ROS2 Foxy on **Ubuntu 20.04**.

1. Install the necessary dependencies:

   .. code-block:: bash

      sudo apt install ros-$ROS_DISTRO-rmw-cyclonedds-cpp ros-$ROS_DISTRO-rosidl-generator-dds-idl -y

2. Unsource ROS Foxy in the terminal (i.e., by commenting out the sourcing command in the `.bashrc` file).

3. Build Cyclone DDS:

   .. code-block:: bash

      colcon build --packages-select cyclonedds 

4. Install other dependencies by running the provided install script:

   .. code-block:: bash

      sudo chmod +x h1_install.bash && ./h1_install.bash

5. Source the environment:

   .. code-block:: bash

      source install/setup.bash
      source /opt/ros/foxy/setup.bash

6. Build the repository:

   .. code-block:: bash

      colcon build --symlink-install 

**Network Setup**

1. Connect to the **123** network using a static IP (No DHCP, as it disrupts the network).

2. Note down the network interface name (e.g., `eth0`).

3. Edit and source the `h1_bringup/config/setup.bash` file with the corrected network interface. For example:

   .. code-block:: bash

      #!/bin/bash
      echo "Setup Unitree ROS2 environment"
      source /opt/ros/foxy/setup.bash
      source $HOME/ros2_ws/install/setup.bash

      export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
                                 <NetworkInterface name="eth0" priority="default" multicast="default" />
                              </Interfaces></General></Domain></CycloneDDS>'

4. Add the above to your `.bashrc` file for persistence.

**Verification**


1. Check the available ROS2 topics:

   .. code-block:: bash

      ros2 topic list

2. Echo a specific topic (e.g., `/lowstate`):

   .. code-block:: bash

      ros2 topic echo /lowstate