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Simulation Instructions

The Gazebo simulator is an industry-standard simulator for robots. Robot shapes and sizes are specified via .dae files, and these robots can then navigate a defined digital world. The simulation framework is useful for prototyping, debugging, and reinforcement learning, among many other uses. To get started with Gazebo and Unitree SDK, please install ROS2 Humble first and use this CycloneDDS configuration. It uses lo as the network interface. 
<CycloneDDS>
    <Domain>
        <General>
            <Interfaces>
                <NetworkInterface address="127.0.0.1" priority="default" multicast="default" />
            </Interfaces>
    </General>
        <Discovery>
            <MaxAutoParticipantIndex>200</MaxAutoParticipantIndex>
        </Discovery>
    </Domain>
</CycloneDDS>
We recommend that you export this in your .bashrc or equivalent configuration file. 
export CYCLONEDDS_URI='
<CycloneDDS>
    <Domain>
        <General>
            <Interfaces>
                <NetworkInterface address="127.0.0.1" priority="default" multicast="default" />
            </Interfaces>
    </General>
        <Discovery>
            <MaxAutoParticipantIndex>200</MaxAutoParticipantIndex>
        </Discovery>
    </Domain>
</CycloneDDS>'
Next, clone the unitree-sdk repository: 
git clone https://github.com/OpenMind/unitree-sdk.git
Then install all necessary dependencies: 
cd unitree-sdk
rosdep install --from-paths . --ignore-src -r -y
pip install -r requirements.txt
Then build all packages: 
colcon build
Now you should be able to launch the Gazebo Simulator. Open the first terminal and run: 
source install/setup.bash
ros2 launch go2_gazebo_sim go2_launch.py
Then open a second terminal and run: 
source install/setup.bash
ros2 launch go2_sdk sensor_launch.py use_sim:=true
This will bring up the om/path topic, enabling OM1 to understand the surrounding environment.

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Start OM1

Refer to the Installation Guide for detailed instructions. 
uv run src/run.py unitree_go2_autonomy_sim