Go2 & Go2-W slam doc update

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**: [Unitree SLAM Guide](/software/slam/go2_slam)
 
 ## 4. FAQ
 

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;
+export default sidebarsSoftware;

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 [email protected]`** 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 <u>RC (remote controller)</u> 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 <u>slowly and thoroughly</u>. Repeat this process twice to achieve a more detailed and accurate map.  
+- On <u>Terminal 3</u>, press **W** to stop mapping.  
+- Return the robot to the exact position and orientation of the original start location.
+
+#### Relocation and Positioning
+- On <u>Terminal 3</u>, 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 <u>10 meters</u>.  
+	- The minimum distance between each node is recommended to be less than <u>1.5 meters</u>. 	
+	- The robot moves in a straight line.  
+	- Due to the LiDAR field of view, obstacles should be at least <u>20 cm</u> 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 other key in Terminal 3 to exit SLAM navigation mode.
+
+#### Localization
+- Return the robot to the exact position and orientation of the original start location.  
+- Review the map and relocation process on the User PC.  
+- On Terminal 3, press **A** to localize.  
+- Press **D** to start the navigation loop.  
+- After completing all saved nodes, the robot will return to the original start location.  
+- **Note:**  
+	- To pause navigation, press **Z** on Terminal 3, then press **CTRL+C** on all terminals.  
+	- Using the RC will immediately stop SLAM navigation and takes precedence.

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)