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To get the complete system up and running, make sure you follow the steps mentioned below. Our boot sequence is as follows:
  • Docker service starts
  • Wait 5 seconds to set up the speaker and microphone with echo cancellation
  • Wait 15 seconds before restarting om1
  • Setup environment variables Get your API key from OM1 Portal For Bash: Open the bashrc file vim ~/.bashrc or ~/.bash_profile. and add export OM_API_KEY=your API key For Unitree G1, Add the following as well 
    export ROBOT_TYPE=g1
export CYCLONEDDS_INTERFACE=enP2p1s0
    Note: By default, the docker container has CYCLONEDDS_INTERFACE set to eno1, it is necessary to update it to the correct interface for G1 setup. Ideally ROBOT_TYPE can also be setup for Go2 but it is not mandatory. The cyclone dds interface can be found by running ifconfig in your terminal and selecting the name of the ethernet connection. Usually for the dog it is eno1 and for g1 it is enP2p1s0.
  • Install ROS2-jazzy and CycloneDDS on the edge device. (Optional) ROS2 installation link
  • Establish Ethernet and DDS connectivity Open the network settings and find the network interface that is connected to the Go2 EDU/G1. In the IPv4 settings, change the IPv4 mode to manual, set the address to 192.168.123.99, and set the mask to 255.255.255.0. After completion, click apply (or equivalent) and wait for the network to reconnect.
  • Create cyclonedds.xml file inside /Documents/Github/cyclonedds/ vi cyclonedds.xml Add the following - 
    <CycloneDDS>
    <Domain>
        <General>
        <Interfaces>
            <NetworkInterface name="eno1" priority="default" multicast="default" />
        </Interfaces>
        </General>
        <Discovery>
        <Peers>
            <Peer address="192.168.123.161"/>   <!-- Go2 Robot 1 -->
            <Peer address="192.168.123.100"/>   <!-- Control station 1 -->
            <Peer address="192.168.123.99"/>   <!-- Control station 2 -->
        </Peers>
        </Discovery>
    </Domain>
</CycloneDDS>
    Make sure you configure the correct IP address for control station 2. It should be the same you configure in IPv4 settings above. For Unitree G1, make sure you update the following 
    <NetworkInterface name="enP2p1s0" priority="default" multicast="default" />
  • Set CYCLONEDDS_HOME, CMAKE_PREFIX_PATH, and CYCLONEDDS_URI (Optional) 
    source /opt/ros/humble/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_HOME=/home/{username}/Documents/Github/cyclonedds/install
export CYCLONEDDS_URI=~/Documents/Github/cyclonedds/cyclonedds.xml
  • Install unclutter on your system to hide the mouse cursor after a period of inactivity: 
    sudo apt install unclutter
  • Install Chromium and lock the snapd version for stability: 
    sudo snap install chromium
snap download snapd --revision=24724
sudo snap ack snapd_24724.assert
sudo snap install snapd_24724.snap
sudo snap refresh --hold snapd
  • Add the script to /usr/local/bin/start-kiosk.sh and make it executable: 
    #!/bin/bash

unclutter -display :0 -idle 0.1 -root &

HOST=localhost
PORT=4173

# Wait for Docker service to listen
while ! nc -z $HOST $PORT; do
echo "Waiting for $HOST:$PORT..."
sleep 0.1
done

exec chromium --kiosk http://$HOST:$PORT --disable-infobars --noerrdialogs
  • Make the script executable: 
    chmod +x /usr/local/bin/start-kiosk.sh
  • Add the script to /etc/systemd/system/kiosk.service to launch the kiosk mode automatically on boot. 
    # /etc/systemd/system/kiosk.service
[Unit]
Description=Kiosk Browser
After=graphical.target docker.service
Requires=docker.service

[Service]
Environment=DISPLAY=:0
ExecStart=/usr/local/bin/start-kiosk.sh
Restart=always
User=openmind

[Install]
WantedBy=graphical.target
  • Enable and start the kiosk service: 
    sudo systemctl daemon-reload
sudo systemctl enable kiosk.service
sudo systemctl start kiosk.service
Note: To stop the kiosk service, use sudo systemctl stop kiosk.service.
  • Setup default speaker and microphone:
    • Connect your robot with a microphone and a speaker if not already connected.
    • Install pulseaudio, if not already installed 
      sudo apt install pulseaudio
    • Find the available devices using following commands - 
      # for speakers
pactl list sinks
# for microphone
pactl list sources
    Make a note of the device names. 
    mkdir -p ~/.config/systemd/user
vim ~/.config/systemd/user/audio-defaults.service
    Add the following to the file - 
    [Unit]
Description=Set Default Audio Devices
After=pulseaudio.service
Wants=pulseaudio.service

[Service]
Type=oneshot
RemainAfterExit=yes
ExecStart=/bin/bash -c '\
sleep 5 && \
pactl unload-module module-echo-cancel || true && \
pactl load-module module-echo-cancel \
    aec_method=webrtc \
    source_master=alsa_input.usb-046d_Brio_101_2520APKJ1778-02.mono-fallback \
    sink_master=alsa_output.usb-Solid_State_System_Co._Ltd._USB_PnP_Audio_Device_000000000000-00.analog-stereo \
    source_name=default_mic_aec \
    sink_name=default_output_aec \
    source_properties="device.description=Microphone_with_AEC" \
    sink_properties="device.description=Speaker_with_AEC" && \
pactl set-default-source default_mic_aec && \
pactl set-default-sink default_output_aec'

[Install]
WantedBy=default.target
  • Use 
    pactl list short
    and replace alsa_output.usb-Solid_State_System_Co._Ltd._USB_PnP_Audio_Device_000000000000-00.analog-stereo with your speaker source and alsa_input.usb-046d_Brio_101_2520APKJ1778-02.mono-fallback with mic source
  • Enable and start the audio defaults service: 
    systemctl --user daemon-reload
systemctl --user enable audio-defaults.service
systemctl --user start audio-defaults.service
  • Settings to be updated for edge device Go to your system settings and update the following
    • Set screen blank to Never
    • Disable Automate suspend
    • Enable Autohide Dock
  • Restart the OM1 container to apply these changes when the system starts to do audio configuration: 
    docker-compose restart om1
  • Add this service to /etc/systemd/system/om1-container.service to automatically restart the OM1 container on boot (Optional): 
    [Unit]
Description=Restart OM1
After=docker.service multi-user.target
Wants=docker.service

[Service]
Type=simple
ExecStart=/bin/bash -c 'sleep 15 && docker restart om1'
RemainAfterExit=no

[Install]
WantedBy=multi-user.Target

sudo systemctl daemon-reload
sudo systemctl enable om1-container.service
sudo systemctl start om1-container.service
After completing all pre-configuration steps, clone each repository individually and build the corresponding Docker images. Once all services are successfully set up and running, the robot will operate in Full Autonomy Mode.