unitree-go2_lab-code

In house code repository for enabling experiements with the go2

DEPLOYMENT PROCEDURE

1. Turn on the GO2
2. Connect the remote control to the GO2
3. Connect your phone to the GO2 through the app
4. Hit L2-A on the remote twice to get the GO2 sitting on the ground
5. (ENSURE STEP 4 HAS BEEN COMPLETED)
6. Use the app to turn off the GO2's sportmode service
   • Homepage >> Device >> Service Status >> sportmode
   • Note that after confirming it make take 10-15 seconds for the mode to turn off
7. Prep environment accordingly
   • For C++, switch to bash, conda deactivate and source ~/UNITREE/unitree-go2_lab-code/unitree-ros2/setup.sh
   • For python, switch to bash, conda activate unitreeGO2
8. Run code

C++ first time setup

After installing ROS2, install the relevant unitree dependencies:

sudo apt install ros-humble-rmw-cyclonedds-cpp
sudo apt install ros-humble-rosidl-generator-dds-idl

Then you'll have to update the folder location of this repo in ./unitree-ros2/setup.bash (using vim or gedit).

Using the C++ interface

then run:

bash
. ./prep.sh

to automatically provision and be put in the correct folder. Then update any code files you need and run

colcon build

to compile. Then run the corresponding file name in the install folder. If it isn't there, add your file to the CMakeLists.txt as a target.

Additional reference material can be found in the Unitree Guide README.

Using the python interface

Specifically build the 0.10.x release of cyclonedds! And then pip install the python unitree sdk from source.

Wifi interface