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Unitree Go2

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Nicholas Sutton edited this page Jul 11, 2026 · 2 revisions

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For guides on using the ACRE ROS2 packages view these resources

For general information about the Unitree Go2, please view these resources

Connecting to the Go2

Overview

For more details visit the following sections of the Unitree Docs:

Go2 Networking Configuration

  1. Connect to the Go2 via an Ethernet cable
  2. Change the IPv4 address of your Ethernet port to 192.168.123.99
  3. Test your connection to the Go2 using ping:
ping 192.168.123.161  # For the the Go2's onboard computer
ping 192.168.123.18   # For the Go2's NVIDIA Jetson Orin
ping 192.168.123.20   # For the Livox mid 360 LiDAR

Connecting via ssh

Once connection is established run the following command to ssh into the Go2:

ssh unitree@192.168.123.161 # For the the Go2's onboard computer (password = 123)
ssh unitree@192.168.123.18 # For the Go2's NVIDIA Jetson Orin (password = 123)

Connecting a Display

  1. Connect the Go2 to a monitor using a USB-c to HDMI adampter
  2. Use the following credentials to sign into the Go2's NVIDIA Jetson Orin
user name: unitree
password: 123

Configuring and Running ROS2 Packages with Docker

Most of our ROS2 packages developed for the Go2 use Docker. To configure the Docker environment you need to change the CycloneDDS URI to the network interface that you are using to connect to the Go2.

You can edit this value of the run.sh script found in the repos root:

#!/bin/bash
xhost +local:docker
docker run -it --rm \
    --network host \
    -e DISPLAY=$DISPLAY \
    -e XDG_RUNTIME_DIR=/tmp/runtime-root \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    --device /dev/dri \
    -e "CYCLONEDDS_URI=<CycloneDDS><Domain><General><Interfaces><NetworkInterface name=\"your_interface_here\"/></Interfaces></General></Domain></CycloneDDS>" \
    -v $(pwd):/workspace \
    package_name

Once the CycloneDDS URI is set you can enter the docker container by running

chmod +x run.sh
./run.sh

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