.. .. 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 --ros-args --remap tf:=/$g1_ns/tf --ros-args --remap tf_static:=/$g1_ns/tf_static

.. 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 --ros-args --remap tf:=/$g1_ns/tf --ros-args --remap tf_static:=/$g1_ns/tf_static

.. .. rubric:: TF Tree

.. To visualize the TF tree of the G1 robot, you can use the following command:

.. .. code-block:: bash

..    ROS_DOMAIN_ID=10 ros2 run rqt_tf_tree rqt_tf_tree --force-discover --ros-args --remap tf:=/$g1_ns/tf --ros-args --remap tf_static:=/$g1_ns/tf_static
..    ROS_DOMAIN_ID=10 ros2 run tf2_tools view_frames.py --force-discover --ros-args --remap tf:=/$g1_ns/tf --ros-args --remap tf_static:=/$g1_ns/tf_static


.. .. rubric:: Video stream


.. To view the video stream from the G1'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