From e0ab5aae9280b47ec472b6d6e1ec584afc02bf82 Mon Sep 17 00:00:00 2001 From: markfoo-weston Date: Tue, 16 Dec 2025 09:38:34 +0700 Subject: [PATCH 1/2] Go2 SLAM setup documentation --- robot/quadruped/go2.md | 1 + sidebars-software.ts | 9 +- software/slam/go2_slam.md | 144 +++++++++++++++++++++++++ software/slam/img/terminal_output.png | Bin 0 -> 64275 bytes software/slam/img/wired_connection.png | Bin 0 -> 50300 bytes tutorial/intro.md | 1 + 6 files changed, 154 insertions(+), 1 deletion(-) create mode 100644 software/slam/go2_slam.md create mode 100644 software/slam/img/terminal_output.png create mode 100644 software/slam/img/wired_connection.png diff --git a/robot/quadruped/go2.md b/robot/quadruped/go2.md index 2215ad7..d4f23a5 100644 --- a/robot/quadruped/go2.md +++ b/robot/quadruped/go2.md @@ -46,6 +46,7 @@ Go2 Edu has 1 built-in computer and 1 onboard computer (expansion dock module): * **Go2 App, Robot Features, Tutorial Videos, Manuals**: [Go2 Features](https://www.unitree.com/app/go2) * **Other Information**: [URDF/CAD](https://support.unitree.com/home/en/developer/Obtain%20SDK) * **Tutorials Page**: [Diagnostic Guide](/tutorial/intro) +* **Simultaneous Localization and Mapping Guide**: [SLAM Guide](/software/slam/go2_slam) ## 4. FAQ diff --git a/sidebars-software.ts b/sidebars-software.ts index 6fdc681..648af31 100644 --- a/sidebars-software.ts +++ b/sidebars-software.ts @@ -17,7 +17,14 @@ const sidebarsSoftware: SidebarsConfig = { 'toolbox/assisted_driving_toolbox', ], }, + { + type: 'category', + label: 'Unitree Slam Guide', + items: [ + 'slam/go2_slam', + ], + }, ], }; -export default sidebarsSoftware; \ No newline at end of file +export default sidebarsSoftware; diff --git a/software/slam/go2_slam.md b/software/slam/go2_slam.md new file mode 100644 index 0000000..f98fa3e --- /dev/null +++ b/software/slam/go2_slam.md @@ -0,0 +1,144 @@ +--- +sidebar_position: 1 +--- + +# Go2 & Go2-W + +## 1. Setup + +Before jumping into SLAM, ensure that all required configurations are set up on the developer PC. + +### 1.1 What You Need + +- **User PC** running Ubuntu 20.04 or 22.04 + - Ubuntu 22.04 is recommended. + - A laptop is recommended. + - You may refer to the [Ubuntu Installation Guide](https://ubuntu.com/tutorials/install-ubuntu-desktop). +- **ROS2 Foxy or Humble** installed + - Humble is recommended. + - You may refer to the [ROS2 Humble Installation Guide](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html). + - After installing ROS2, in the terminal, run **`export ROS_DOMAIN_ID=0`**. +- **Unitree Software Development Kit** installed and set up + - You may refer to the [Unitree_SDK_Go2 Installation Guide](https://support.unitree.com/home/en/developer/Quick_start) or the [Unitree_SDK_Go2-W Installation Guide](https://support.unitree.com/home/en/Go2-W_developer/Quick_Start). +- **Unitree ROS2 Services Interface** installed + - You may refer to the [ROS2 Services Interface Installation Guide](https://support.unitree.com/home/en/developer/ROS2_service). +- **Ethernet cable** + - Used to connect the laptop to the Go2/Go2-W PC. + - A cable longer than 5 meters is recommended. + +### 1.2 Additional Preparation + +- **Payload Installation** + - You may refer to the [Payload Installation Guide](https://support.unitree.com/home/en/developer/Payload). + - Make sure the Expansion Dock, depth camera, and LiDAR (XT16 or MID-360) are installed properly. +- **Expansion Dock Configuration** + - You may refer to the [Expansion Dock Configuration Guide](https://support.unitree.com/home/en/developer/module_update). + +### 1.3 Notes + +- The RViz configuration files can be found in the **Expansion Dock Module Update Package** installed in the previous steps. +- **Go2/Go2-W PC details:** + - Username: `unitree` + - Password: `123` + - IP address: `192.168.123.18` +- Secure Shell into the robot PC by running **`ssh unitree@192.168.123.18`** in the terminal. + - When prompted, enter the password above. + - Select **1** when prompted for the ROS version. +- If you encounter issues when running commands in the terminal, try adding **`sudo`** at the front (e.g. **`sudo nano /etc/default/grub`**). +- If you are using **ROS2 Humble** instead of **ROS2 Foxy**, replace any references to *Foxy* with *Humble* when following the steps above. + +--- + +## 2. Configuration + +### 2.1 Wired Connection + +- Make sure the User PC is connected to the Expansion Dock on the Go2/Go2-W as shown below. +![](https://doc-cdn.unitree.com/static/2024/1/4/a33bd756cb124c718ec7a0932aa2fd71_1417x1075.png) + +- Ensure that the network interface connected to the robot is configured with the following settings. +![](./img/wired_connection.png) + +- In the terminal: + - Verify the connection by running: + - **`ping 192.168.123.18`** for the Go2/Go2-W PC + - **`ping 192.168.123.20`** for the LiDAR + - **`ping 192.168.123.161`** for the Motion Control PC + - Verify the ROS2 setup by running: + - **`source unitree_ros2/setup.sh`** + - **`ros2 topic list`** + - Expected output: + ![](https://doc-cdn.unitree.com/static/2023/8/9/8ba3181e1f1446d784e8e40b21968db3_610x640.png) + +--- + +### 2.2 SLAM Usage + +> The following steps are performed on the Go2/Go2-W PC via [Secure Shell](#13-notes). + +#### Run SLAM +- Open a terminal (Terminal 1). +- **`cd /unitree/module/unitree_slam/bin`** +- **`sudo ./unitree_slam`** to start the SLAM service. +- Keep this terminal open. + +#### Run the LiDAR Driver +- Open a new terminal (Terminal 2). +- **`cd /unitree/module/unitree_slam/bin`** +- Run the appropriate driver based on the installed LiDAR: + - **`sudo ./mid360_driver`** or + - **`sudo ./xt16_driver`** +- Keep this terminal open. + +#### Run keyDemo +- Open a new terminal (Terminal 3). +- **`cd /unitree/module/unitree_slam/bin`** +- **`sudo ./keyDemo eth0`** +- The terminal should display the following output: +![](./img/terminal_output.png) + +--- + +> The following steps are performed on the **User PC**. + +#### Run RViz +- Open a terminal. +- **`source unitree_ros2/setup.sh`** +- **`cd /unitree/module/unitree_slam/rviz2/`** +- **`rviz2 -d mapping.rviz`** +- This allows monitoring of the mapping process. +- You may also run **`rviz2 -d relocation.rviz`** to monitor the relocation process. + +--- + +> The following steps involve robot manipulation using the RC (remote controller) and interaction with Terminal 3. + +#### Mapping +- Press **Q** to start mapping. +- Make sure the robot is at the exact intended start location and is standing. +- Move the robot around the area slowly and thoroughly. Repeat this process twice to achieve a more detailed and accurate map. +- On Terminal 3, press **W** to stop mapping. +- Return the robot to the exact position and orientation of the original start location. + +#### Relocation and Positioning +- On Terminal 3, press **A** to start relocation and positioning initialization. +- Press **S** to add the first node (checkpoint), which should always be the start location. +- Move the robot to desired checkpoints using the RC and save each position by pressing **S**. +- **Note:** + - The distance between the target point and the current position must not exceed 10 meters. + - The minimum distance between each node is recommended to be less than 1.5 meters. + - The robot moves in a straight line. + - Due to the LiDAR field of view, obstacles should be at least 20 cm high. + - Avoid sharp turns. + - Turn off the obstacle avoidance mode that comes with the robot, and the head light will turn blue. +- After saving all desired nodes, press any 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JLe%KX{{dmJ8_)m% literal 0 HcmV?d00001 diff --git a/tutorial/intro.md b/tutorial/intro.md index 8fdfca6..9cee8d5 100644 --- a/tutorial/intro.md +++ b/tutorial/intro.md @@ -20,3 +20,4 @@ In addition to the resource provided on the product pages, we also prepare more * [Go2 Diagnostics Guide](unitree/go2_diag_guide) * [B2 Diagnostics Guide](unitree/b2_diag_guide) +* [Go2 & Go2-W Unitree SLAM Guide](/software/slam/go2_slam) From c8fe107a546067d2a9e26bf61d123f690b880565 Mon Sep 17 00:00:00 2001 From: markfoo-weston Date: Tue, 16 Dec 2025 09:42:36 +0700 Subject: [PATCH 2/2] Go2 SLAM setup documentation --- robot/quadruped/go2.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/robot/quadruped/go2.md b/robot/quadruped/go2.md index d4f23a5..cfffd7d 100644 --- a/robot/quadruped/go2.md +++ b/robot/quadruped/go2.md @@ -46,7 +46,7 @@ Go2 Edu has 1 built-in computer and 1 onboard computer (expansion dock module): * **Go2 App, Robot Features, Tutorial Videos, Manuals**: [Go2 Features](https://www.unitree.com/app/go2) * **Other Information**: [URDF/CAD](https://support.unitree.com/home/en/developer/Obtain%20SDK) * **Tutorials Page**: [Diagnostic Guide](/tutorial/intro) -* **Simultaneous Localization and Mapping Guide**: [SLAM Guide](/software/slam/go2_slam) +* **Simultaneous Localization and Mapping Guide**: [Unitree SLAM Guide](/software/slam/go2_slam) ## 4. FAQ