OM1 can control a Unitree Go2 EDU out of the box. This has been tested on Nvidia Orin, Mac Mini, and current (silicon) Mac laptops.

​
Step 1 - Establishing Ethernet and DDS Connectivity

Connect the Unitree Go2 EDU to your development machine with an Ethernet cable. Open the network settings and find the network interface that is connected to the Go2 EDU. 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. 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
git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x
cd cyclonedds && mkdir build install && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=../install -DBUILD_EXAMPLES=ON
cmake --build . --target install

Next, set 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.

export CYCLONEDDS_HOME=$HOME/Documents/GitHub/cyclonedds/install

export CMAKE_PREFIX_PATH=$HOME/Documents/GitHub/cyclonedds/install

export CYCLONEDDS_URI='
<CycloneDDS>
  <Domain>
    <General>
      <Interfaces>
        <NetworkInterface name="en0" priority="default" multicast="default" />
      </Interfaces>
    </General>
    <Discovery>
      <EnableTopicDiscoveryEndpoints>true</EnableTopicDiscoveryEndpoints>
    </Discovery>
  </Domain>
</CycloneDDS>'

Then, compile and run the listtopics example:

cd $HOME/Documents/GitHub/cyclonedds/install/share/CycloneDDS/examples/listtopics
cmake .
cmake --build .
./listtopics

On Mac, you may need to allow incoming connections in the popup the first time you run listtopics.

Running listtopics should result in an extensive data dump of available topics:

alive: df4efe0e:812a86b1:647728be:c1f7a312 rt/lf/lowstate unitree_go::msg::dds_::LowState_
alive: c3a612c2:99b329c6:22510d3d:d385e1e6 rt/api/motion_switcher/response unitree_api::msg::dds_::Response_
alive: 78b1db7f:622f2dfe:fb4d9e8f:987083f0 rt/api/motion_switcher/request unitree_api::msg::dds_::Request_
alive: 84978827:0d460527:b4f054ac:e546468a rt/api/gpt/request unitree_api::msg::dds_::Request_
alive: 23d08ca2:bea974c8:d44a51c0:d2c3cf27 rt/api/gpt/response unitree_api::msg::dds_::Response_
alive: ac63fb3a:bb2b8a5b:c1a42ed4:bf470e91 rt/gptflowfeedback std_msgs::msg::dds_::String_
alive: fc5e351e:00f676bb:236ec7d8:da9f115b rt/api/sport/request unitree_api::msg::dds_::Request_
alive: b1be3e06:596bd40d:8ef51579:50245496 rt/api/sport/response unitree_api::msg::dds_::Response_
alive: da491277:72915ef6:c7407d32:fb2ce5fa rt/api/videohub/request unitree_api::msg::dds_::Request_
alive: 9072826b:ffcd904a:ba8a0092:792335d7 rt/api/videohub/response unitree_api::msg::dds_::Response_
alive: 077c7627:183247d6:2a698bc3:f8df4577 rt/utlidar/range_info geometry_msgs::msg::dds_::PointStamped_
alive: 188652eb:bf16b2a2:dbc4ac3a:af71d576 rt/lf/sportmodestate unitree_go::msg::dds_::SportModeState_
alive: 23dd31a3:b6828a1e:cb390d4f:1a9a1d87 rt/gpt_cmd std_msgs::msg::dds_::String_
alive: c53b329d:7aa96ef0:80c9d35d:d8459b42 rt/api/vui/request unitree_api::msg::dds_::Request_
alive: 87b1b32e:d9ec09ce:b928db03:eaf5f28f rt/api/vui/response unitree_api::msg::dds_::Response_
alive: 4d0e307c:c20328f4:0dd1efc5:7ca1e56c rt/mf/sportmodestate unitree_go::msg::dds_::SportModeState_
alive: 083d7026:d0ac857d:ad12c938:2b98f89a rt/utlidar/height_map_array unitree_go::msg::dds_::HeightMap_
alive: 06f05795:ebf8f837:fb736321:16cd723d rt/wirelesscontroller unitree_go::msg::dds_::WirelessController_
alive: 3f2bd6b9:22da59bf:ca7b2ec6:2ab25639 rt/api/obstacles_avoid/response unitree_api::msg::dds_::Response_
alive: 3392a31a:eec44934:a234ee4e:e9b0645d rt/api/obstacles_avoid/request unitree_api::msg::dds_::Request_
alive: 9c38174a:b9719d10:5ceaf5d6:58cad182 rt/api/config/request unitree_api::msg::dds_::Request_
alive: 243d1a9a:beb73e99:a7438b89:8881ba7a rt/api/config/response unitree_api::msg::dds_::Response_
alive: 1ffd3f85:9e4cbd10:b07286be:95b31d4c rt/api/sport_lease/response unitree_api::msg::dds_::Response_
alive: ab8cdb14:cb59d2c1:7dba035c:424e94c5 rt/api/sport_lease/request unitree_api::msg::dds_::Request_
alive: 232c059d:f9650b34:ee28aae8:da3ab7d6 rt/lowcmd unitree_go::msg::dds_::LowCmd_
alive: a9cf187b:009f8f56:bfdf14b4:c2525358 rt/sportmodestate unitree_go::msg::dds_::SportModeState_
alive: 282f8688:c4486d0f:ae222a71:f33dc3b9 rt/lowstate unitree_go::msg::dds_::LowState_
alive: e553c276:3cdb6d66:52898f8b:59b25a8c rt/config_change_status unitree_go::msg::dds_::ConfigChangeStatus_
alive: 699e3ec7:13005f67:4165667f:a84d4593 rt/webrtcreq std_msgs::msg::dds_::String_
alive: 921b611e:2649a718:a59ee5cd:22dc2309 rt/webrtcres std_msgs::msg::dds_::String_
alive: 4e0a5acf:15405a12:f6e929ea:5c320a0a rt/api/audiohub/request unitree_api::msg::dds_::Request_
alive: 873309ee:12ef5d7c:8cd557b7:00b1931c rt/api/audiohub/response unitree_api::msg::dds_::Response_
alive: e7a31796:64c222e8:a8f3e215:22e11e24 rt/rtc/state std_msgs::msg::dds_::String_
alive: 80ba3475:34843e73:c939481c:0db3198d rt/audiohub/player/state std_msgs::msg::dds_::String_
alive: 82fb9789:0b61fd9c:5a20c796:876944da rt/api/fourg_agent/response unitree_api::msg::dds_::Response_
alive: 63540cad:26e63d68:0b2a3b41:0a431b21 rt/api/fourg_agent/request unitree_api::msg::dds_::Request_
alive: 0582765e:bebc0d3c:31f2aa76:849d52d7 rt/public_network_status std_msgs::msg::dds_::String_
alive: 5a1e209f:77622587:dff56d06:100b934a rt/gnss std_msgs::msg::dds_::String_
alive: 5c4904ed:4cdcda1f:17498349:91cc9154 rt/api/uwbswitch/request unitree_api::msg::dds_::Request_
alive: 40ce3a5c:80f4f2e4:50679aee:073b34d7 rt/api/uwbswitch/response unitree_api::msg::dds_::Response_
alive: c2bd3891:436200a6:bcf7d9fe:67115b31 rt/api/bashrunner/response unitree_api::msg::dds_::Response_
alive: c0acff0c:48bc2d73:b9c0bc78:9a39ac86 rt/selftest std_msgs::msg::dds_::String_
alive: 22066ccf:337367fe:bfc8f45d:07cb2de6 rt/api/bashrunner/request unitree_api::msg::dds_::Request_
alive: e1235a04:2b4036af:97482629:7591bc73 rt/utlidar/cloud sensor_msgs::msg::dds_::PointCloud2_
alive: 7daf47c7:581b2844:c890ed12:95e30a2e rt/utlidar/cloud_deskewed sensor_msgs::msg::dds_::PointCloud2_
alive: 4a8d54dc:e5ee8a08:fe3219d9:07f76dcf rt/utlidar/lidar_state unitree_go::msg::dds_::LidarState_
alive: 44260812:9b9f6a04:af980abc:e73a77fe rt/utlidar/switch std_msgs::msg::dds_::String_
alive: 749c1f9a:4b0cec32:19b92633:17e62e1d rt/utlidar/robot_odom nav_msgs::msg::dds_::Odometry_
alive: 79ce8c20:07aae9f8:c523d89c:b110b187 rt/utlidar/robot_pose geometry_msgs::msg::dds_::PoseStamped_
alive: 2c16a46d:da94a86f:d52ef5cc:7051a9fa rt/utlidar/foot_position sensor_msgs::msg::dds_::PointCloud2_
alive: 4384ffd2:e20ddb0e:f7b76a2c:d2c6a30c rt/utlidar/imu sensor_msgs::msg::dds_::Imu_
alive: f3aab9a3:95247169:cfbf8263:c5a9b106 rt/utlidar/mapping_cmd std_msgs::msg::dds_::String_
alive: 22359611:515cc56c:deeb92c9:c94220cf rt/uslam/client_command std_msgs::msg::dds_::String_
alive: 3dcca3f4:78429e39:564ca64f:05a1ece3 rt/uslam/cloud_map sensor_msgs::msg::dds_::PointCloud2_
alive: 4cc72605:f2246ae7:b747729e:64efbe90 rt/uslam/server_log std_msgs::msg::dds_::String_
alive: ebdc8a4a:9e5c19b5:26543bcc:0fa10748 rt/utlidar/voxel_map sensor_msgs::msg::dds_::PointCloud2_
alive: d447621e:3988c1dc:f66702de:0686316c rt/utlidar/voxel_map_compressed unitree_go::msg::dds_::VoxelMapCompressed_
alive: 5e812cab:094b8728:1b5e3e01:e016ee20 rt/utlidar/height_map sensor_msgs::msg::dds_::PointCloud2_
alive: 2de95d6a:9bb1ad47:ffd2e68a:e630fc84 rt/utlidar/range_map sensor_msgs::msg::dds_::PointCloud2_
alive: 46a6be60:38d89c4b:2c15e85e:1de4d940 rt/utlidar/map_state unitree_go::msg::dds_::VoxelHeightMapState_
alive: 35ccc911:8434f2c6:dcde737d:9e2be105 rt/utlidar/grid_map sensor_msgs::msg::dds_::PointCloud2_
alive: 1fdd190f:1809f14a:cbcf54a8:83382be7 rt/uwbstate unitree_go::msg::dds_::UwbState_
alive: 7474c70d:75a1ec58:39efc2e5:9dde2533 rt/api/programming_actuator/response unitree_api::msg::dds_::Response_
alive: 42699445:5dcf6a55:4ed227af:6ba4ae91 rt/api/programming_actuator/request unitree_api::msg::dds_::Request_
alive: 47a98910:be44d5c4:55ef536f:30e24971 rt/wireless_controller unitree_go::msg::dds_::WirelessController_
alive: 1c3b1069:4aa20466:30a3036b:c6b59fa8 rt/frontvideostream unitree_go::msg::dds_::Go2FrontVideoData_
alive: b998bf1b:6930232f:a9a62e3e:b1785122 rt/videohub/inner std_msgs::msg::dds_::String_
alive: 42c7a686:b0e92d30:fe95d5c0:9af26c6f rt/api/robot_state/response unitree_api::msg::dds_::Response_
alive: 09866cdd:dd97fa27:978c004f:3624dace rt/api/robot_state/request unitree_api::msg::dds_::Request_
alive: fb0e8c0f:5f108434:e87e9cf7:7848477d rt/servicestate std_msgs::msg::dds_::String_
alive: 6e9b68c3:8cb0df52:98603f8c:b934b1f6 rt/multiplestate std_msgs::msg::dds_::String_
alive: 6f564b14:8d2a936a:e3ac501c:d0fa740f rt/audiosender unitree_go::msg::dds_::AudioData_
alive: ab2e56b3:0906d3af:9a0efbb8:2c0fbd2b rt/uwbswitch unitree_go::msg::dds_::UwbSwitch_
alive: edf34ede:ec71ed87:ff6d918b:fd6177f9 rt/servicestateactivate std_msgs::msg::dds_::String_
alive: da41bb3b:e14530da:3288e103:dcf8888a rt/wirelesscontroller_unprocessed unitree_go::msg::dds_::WirelessController_
alive: 8a575fb2:ad676bfd:a3b20683:ae69b9af rt/rtc_status std_msgs::msg::dds_::String_
alive: 05d38f9b:d5113e6e:14601dbc:42e800ca rt/api/bashrunner/request unitree_api::msg::dds_::Request_
alive: 82a94751:dd399ada:7d9e6a9f:d7a0176e rt/api/gas_sensor/request unitree_api::msg::dds_::Request_
alive: ba193460:48bd7d2f:116da37d:f30b6c42 rt/qt_command unitree_interfaces::msg::dds_::QtCommand_
alive: d4f5d6cb:b6399171:13f983fb:45b46d7a rt/qt_add_node unitree_interfaces::msg::dds_::QtNode_
alive: 6f31b8ea:188ccefd:0bfd96dc:3a37a02f rt/qt_add_edge unitree_interfaces::msg::dds_::QtEdge_
alive: d1df34ff:1eab5cca:dd6efa75:2d6822cb rt/arm_Command unitree_arm::msg::dds_::ArmString_
alive: ea56b746:45db6798:5bc61259:56a9ced8 rt/programming_actuator/command std_msgs::msg::dds_::String_
alive: bcfd7290:715c3062:f749cd88:65a00f50 rt/api/gas_sensor/response unitree_api::msg::dds_::Response_
alive: cbda9e6d:70ba0985:dde9d637:788a68c1 rt/query_result_node unitree_interfaces::msg::dds_::QtNode_
alive: 3e9b2d75:a0c37b00:84a6a836:0d551674 rt/query_result_edge unitree_interfaces::msg::dds_::QtEdge_
alive: caa2c5ce:1b35a561:838107c5:426dc33b rt/qt_notice std_msgs::msg::dds_::String_
alive: d04fbb81:2460ecfd:65992300:0488c9e0 rt/pctoimage_local unitree_interfaces::msg::dds_::PcToImage_
alive: 0a0535a3:698337d4:c18b0e88:881cfe6e rt/lio_sam_ros2/mapping/odometry nav_msgs::msg::dds_::Odometry_
alive: 38c5e268:9cf0ebc1:740c30c6:aeb63f0a rt/arm_Feedback unitree_arm::msg::dds_::ArmString_
alive: ed0192ea:695ebbbd:9c0704a9:44a56576 rt/gas_sensor std_msgs::msg::dds_::String_
alive: 56b92f32:a4984539:7d02a691:72b8ed71 rt/uslam/frontend/cloud_world_ds sensor_msgs::msg::dds_::PointCloud2_
alive: 11641fd3:41e4e795:eb3a132d:6ba0b093 rt/uslam/frontend/odom nav_msgs::msg::dds_::Odometry_
alive: c0263c37:58c215e0:a5cf9018:0255fb8e rt/uslam/localization/odom nav_msgs::msg::dds_::Odometry_
alive: a3bb4e5c:ca3c645a:58b4a065:a84059ab rt/uslam/navigation/global_path sensor_msgs::msg::dds_::PointCloud2_
alive: 1453e55f:a4d5babe:aec670aa:6c0a9bff rt/uslam/localization/cloud_world sensor_msgs::msg::dds_::PointCloud2_
alive: 1a6535ff:d7346fd8:87885024:9a136972 rt/programming_actuator/feedback std_msgs::msg::dds_::String_

​
Step 2 - Add the Python CycloneDDS module

Add the dds python module to your code base: uv pip install -r pyproject.toml --extra dds.

​
Step 3 - Connect an Xbox controller

On Mac, make sure that your Xbox controller is running the most recent firmware, otherwise you will be able to pair but not connect to the controller. You will need a PC with 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 also need to install hidapi (brew install hidapi).

NOTE: There is a bug on Mac when installing packages with 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:

Linux hidapi
sudo apt-get update
sudo apt-get install python-dev libusb-1.0-0-dev libudev-dev libhidapi-dev

​
Step 4 - Controlling the Quadruped

Run

Run Robot
uv run src/run.py unitree_go2

OM1 will control a safe and limited subset of motions (such as stretch and sit down). You can also manually control the dog via the game controller. Press:

  • A to stand up
  • B to sit down
  • X to shake paw
  • Y to stretch

Allowing the dog to move, pounce, and run requires you to add this functionality. Warning: If you add additional movement capabilities, this is at your own risk. Due to the autonomous nature of the system, we recommend to perform such testing in the absence of squirrels, cats, rabbits, or small children (assuming you are providing a dog prompt).

​
Accessing Unitree data

Front video feed:

uv run system_hw_test/go2_camera_opencv.py en0

Front video single image:

uv run system_hw_test/go2_capture_image.py en0

Lowstate system/joint data:

uv run system_hw_test/go2_data_stream.py en0

Lidar:

uv run system_hw_test/go2_lidar.py en0

​
Unitree Go2 EDU Common Problems

Channel factory init error: If you see a 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
ping 192.168.123.161

Assuming you can ping the robot, then test the cycloneDDS middleware (see STEP 1). Once you can see data flowing, then the rest of the system should work.

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