.. All ROS2 drivers for the G1 developed by MYBOTSHOP operate with the environment variable **ROS_DOMAIN_ID=10**.
..  To start the custom Mybotshop ROS2 drivers for the G1, 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 g1_bringup system.launch.py

.. This command starts the driver for operating the G1 in high-level mode for the legs and arms.

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

.. The G1 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