Frequently Asked Questions 
==========================

General Questions and Answers
-----------------------------

- **Question:** Is it possible to power on the Unitree H1 using an external power supply? 
  
  **Answer:** Not at the moment.

- **Question:** How can I get access to the ROS2-specific repository for the Unitree H1?  
  
  **Answer:** The ROS2-specific repository for the Unitree H1 is available to customers and partner institutions of QUADRUPED ROBOTICS GmbH. If you have purchased the robot from us, please send your purchase ID along with your GitHub username to support@mybotshop.de. This will allow us to grant you access to the repository.

- **Question:** How do I connect to the Unitree H1 and perform teleop and RViz tasks via Wi-Fi instead of Ethernet?  

 **Answer:** To connect via Wi-Fi, add a USB Wi-Fi dongle to the H1 and configure it according to the GitHub documentation. Once configured, you can connect via SSH and perform teleop and RViz tasks wirelessly. The recommended dongle is the TP-Link TL-WN722N.

- **Question:** Is the Unitree H1 dustproof and waterproof?  

  **Answer:** No, the Unitree H1 does not have dustproof or waterproof features.

- **Question:** What should be done if the large remote controller for the Unitree H1 doesn’t turn on?  

  **Answer:** If the large remote controller doesn’t turn on, locate the reset button at the back of the controller. Insert a pin into the hole and hold it for 3 seconds to reset the controller.

- **Question:** What sensors can be added to the top of the Unitree H1?  

  **Answer:** Various sensors and accessories can be added to the top of the Unitree H1, including speakers, warning lights, thermal cameras, and high-power search lights, enabling multiple applications.

- **Question:** Is it possible to connect external accessories to the Unitree H1 using a USB-C port?  

  **Answer:** Yes, the H1 model includes a USB-C port through a hub that supports all necessary connections for external accessories.

- **Question:** Is there a freely available Gazebo model for the Unitree H1 that can be used with ROS2?  

  **Answer:** Yes, the Unitree H1 operates with ROS2 Foxy, and a Gazebo model for simulation is available. You can find the simulation resources on the Unitree GitHub repository.

- **Question:** How can the H1 remote control be calibrated?  

  **Answer:** To calibrate the H1 remote control, follow these steps:

        1. Hold the remote without touching the joysticks.  
        2. Press and release the F1 and F3 buttons simultaneously. The remote will emit a continuous "beep beep" sound, indicating it is in calibration mode.  
        3. Move the left and right joysticks to their maximum positions and rotate them several times until the "beep beep" sound stops.  
        4. Press the F3 button once to apply the calibration and complete the process.

- **Question:** The H1 remote is not making a beep sound. What should I do?  

  **Answer:** Press the F1 button three times to mute/unmute the remote’s beep sound.

..
    .. _Intel real-sense: https://dev.intelrealsense.com/docs/nvidia-jetson-tx2-installation
    .. _ROS network setup: http://wiki.ros.org/ROS/NetworkSetup
    .. _Turtlebot preception guide: https://www.mybotshop.de/Turtlebot3-3D-SLAM
    .. _Unitree App: https://unitree.com/app/



    Wireless Access H1
    ~~~~~~~~~~~~~~~~~~~
    The H1 can be wirelessly accessed by its onboard hotspot. It usually has the name 
    **UnitreeRoboticsH1-##** followed by the model number. The default password is **00000000**.


    * The main controller ip:

    .. code-block:: bash

        ssh -X unitree@192.168.123.161


    * The Nvidia controller ip:

    .. code-block:: bash

        ssh -X unitree@192.168.123.12

    .. important::
        The password for both are **123**.

    The `Unitree App`_ can be used to view the robot as well.

        * For recording and visualing its data, it is recommended to use record a rosbag transfer it back to your computer and 
        play it:


    * Record rosbag:

    .. code-block:: bash

        rosbag record -a
    
    * Play rosbag:

    .. code-block:: bash
            
        rosbag play -l <file_name.bag>

    Display not visible H1
    ~~~~~~~~~~~~~~~~~~~~~~~

        There are two pcs on the robot. The front side of the robot has some ports they are for Rasberry Pi.
        Here you can connect the HDMI cable and than restart the robot because if the robot is turned on and
        than you connect an HDMI adapter then it will not show anything. So you have to restart after connecting the HDMI.
        For Nvidia the same procedure applies.

        .. note::
            The Nvidia's moAlstherboard goes to sleep, so if you connect an external mouse or keyboard you can directly 
            wake it up.