Unitree Go2 EDU Quadruped (dog)
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. Provide the name of the network adapter in the "unitree_ethernet": "en0"
entry in the unitree_go2.config
file.
Then, install CycloneDDS
. CycloneDDS
works on Mac, Linux, and PC. Run:
CYCLONEDDS_HOME
, CMAKE_PREFIX_PATH
, and CYCLONEDDS_URI
to the correct values for your computer. Example settings for a typical Mac installation are provided below. You should add these paths to your environment via your .zshrc
or equivalent.
listtopics
example:
allow incoming connections
in the popup the first time you run listtopics
.
Running listtopics
should result in an extensive data dump of available topics:
dds
python module to your code base: uv pip install -r pyproject.toml --extra dds
.
Xbox Accessories
to update the Xbox controller’s firmware. Many Mac OS updates hose support for the Xbox controller, which is then fixed (after some delay) via an Xbox firmware update.
On Mac, you will need to install hidapi
:
brew
- some libraries cannot be found by uv
. If you get errors such as Unable to load any of the following libraries:libhidapi-hidraw.so
, set export DYLD_FALLBACK_LIBRARY_PATH=$HOMEBREW_PREFIX/lib
in your .zshenv
or equivalent.
On Linux, install hidapi
like this:
channel factory init error
, then you have not set the correct network interface adapter - the one you want to use is the network interface adapter on your development machine - the computer you are currently sitting in front of that is plugged into the Unitree quadruped (which has its own internal RockChip computer and network interface, which is not relevant to you right now). The Ethernet adapter - such as eno0
or en0
- needs to be set in the "unitree_ethernet": "en0"
entry in the unitree_go2.config
file.
The CycloneDDS library could not be located: You did not install CycloneDDS (see above), or, you did not provide a path to the /install
, via export CYCLONEDDS_HOME=$HOME/Documents/GitHub/cyclonedds/install
or equivalent.
“nothing is working” There are dozens of potential reasons “nothing is working”. The first step is to test your ability to ping
the quadruped motion control computer:
ping
the robot, then test the CycloneDDS middleware (see STEP 1). Once you see data flowing, then the rest of the system should work.