All ROS2 drivers for the H1 developed by MYBOTSHOP operate with the environment variable **ROS_DOMAIN_ID=10**. 
To start the custom Mybotshop ROS2 drivers for the H1, run the following command:

.. note::
   Please ensure that the robot's arms are straight down when you power on the robot. 
   If the arms are in a different orientation, it may affect the ROS2 control operations.

.. code-block:: bash

   ros2 launch h1_bringup system.launch.py

This command starts the driver for operating the H1 in high-level mode for the legs and arms.

.. important::
    
   The arms will initialize and move so that the forearms are facing forward.

The H1 ROS2 driver includes the following components:

- Domain Bridge
- Joint States
- Robot Description
- Arm Control
- Leg Control (High-level)
- Inertial Measurement Unit Publisher 
- Sensor Fusion
- Twist Mux
- Logitech F710 Control
- D435i Depth Camera Driver
- Livox Mid360 LiDAR Driver
- 2D Scanner