Introduction

This is a base repository for the G1 robot which contains all the base data to get started working on it.

This was nessacessy are the base repository (https://github.com/unitreerobotics/unitree_ros2?tab=readme-ov-file) is built for other robots such as the Go1 and H1 which has different hardware than the G1 such as Lidar

This was made and has only been tested on

systems	ROS2 distro
Ubuntu 20.04	foxy

Prerequisites

The installation of ROS2 foxy can refer to: https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html

The installation of Livox-SDK2 can refer to: https://github.com/Livox-SDK/Livox-SDK2

Dependencies:

sudo apt install python3-colcon-common-extensions
sudo apt install ros-foxy-rmw-cyclonedds-cpp
sudo apt install ros-foxy-rosidl-generator-dds-idl

Installation

Please clone this repo in your base directory

cd
git clone https://github.com/JoeldotSmith/unitree_ros2_default

Editing before compiling

Please connect to the robot via ethernet.

Next, open the network settings, find the network interface that the robot connected.In IPv4 setting, change the IPv4 mode to manual, set the address to 192.168.123.103, and set the mask to 255.255.255.0 and the gateway to 192.168.123.30. After completion, click apply and wait for the network to reconnect.

More detailed instructions can be found in the unitree_ros2 repo

run

ifconfig

to find the name of the connection mine is 'enx00e04c680157' a wired connection to the robot will always start with en

the inside the unitree_ros2_default/setup.sh file, replace the name in the NetworkInterface in the with the name of your wired connection, like below and save the file.

#!/bin/bash
echo "Setup unitree ros2 environment"
source /opt/ros/foxy/setup.bash
echo "Setup unitree unitree workspace"
source $HOME/unitree_ros2_default/unitree_ws/install/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
                            <NetworkInterface name="enx00e04c680157" priority="default" multicast="default" />
                        </Interfaces></General></Domain></CycloneDDS>'

Compilation

Then a create script has been created to make first compiling easier. This script compiles all dependencies and packages on first running.

RUNNING A RANDOM SCRIPT WITHOUT THROUGHLY READING AND UNDERSTANDING WHAT IT DOES IS BAD PRACTICE, PLEASE DO SO BEFORE RUNNING

cd ~/unitree_ros2_default
./compile.bash

This script has not been finalised there may be some errors

Next source the enviroment with

cd ~/unitree_ros2_default
source setup.sh

Testing, ros should now be active and if you run

ros2 pkg list

you should see all in the list of packages

/livox_ros_driver2
/unitree_go
/unitree_api
/unitree_hg

in the list.

Example to open up the lidar of the robot in rviz running this

ros2 launch livox_ros_driver2 rviz_MID360_launch.py

should open an rviz page after a small wait point cloud information should be seen in the viewer this is the lidar data.

After changing code you will have to recompile the code base by

cd ~/unitree_ros2_default/unitree_ws
colcon build
cd ..
source setup.sh