Unitree G1 Humanoid
./ddsperf sanity
(located in $HOME/Documents/GitHub/cyclonedds/install/bin/
or whatever you chose) you should start to see data:
en0
) is the value you should provide to /config/unitree_g1_humanoid.json
.
Then add the optional Python CycloneDDS module to OM1:
ffprobe
)CYCLONEDDS_HOME
env var. This is where the actual CycloneDDS is installed on your computer:
CYCLONEDDS_HOME
actually points to the CycloneDDS install /lib. This can be confusing, since if you install indirectly via unitree_ros2
, then the location of the CycloneDDS libraries will be in slightly different location than if you install directly, via git clone https://github.com/eclipse-cyclonedds/cyclonedds
.
Then add the optional Python CycloneDDS module to OM1:
192.168.123.99
The LIDAR is 192.168.123.120
The internal control computer (RockChip, aka the operation and control computing unit
) is at 192.168.123.161
The internal development computer (Orin 16GB, aka the development computing unit
) is at 192.168.123.164
Useful commands:
damp
stateai_sport
client. The system will respond to manual controller and SDK commands.
stand
and step in place
.ai_sport
client.
123
but you should obviously change this. Result:
foxy(1)
.
unitree_hg
IDL data format for the G1. Solution: remove the default CycloneDDS installation and reinstall following the Unitree ROS2 installation instructions. The unitree_hg
bug was fixed in early Dec. 2024 in this commit: unitreerobotics/unitree_ros2@b34fdf7.
You will need to export suitable env variables and correct the setting in .bashrc
and in $HOME/unitree_ros2/setup.sh
. Add this to the .bashrc
:
$HOME/unitree_ros2/setup.sh
to
setup.sh
via source ~/unitree_ros2/setup.sh
. Finally, you should start to see data.
.99
, for example, using ./bin/listtopics
: