Cannot use ros to real for Go1 robot

human-bot · March 28, 2023, 11:09am

Hello MBS team,

I am trying to control my Go1 robot using the repository qre_go1 but the robot doesn’t respond. I tried both the Quick-Start Teleop and Autonomous Navigation commands listed on quick_start but neither is working on the real robot.

From the repository the install files and basic setup don’t work out of the box. I managed to build the packages for both melodic and noetic versions by making some changes manually and both systems fail to communicate with the robot.

Also, I have tried using the latest v3.8.0 & v3.8.6 from Unitree’s repository unitree_legged_sdk/v3.8.0 and that doesn’t work with my Go1 robot. Instead, I was able to run basic examples from a forked repository made available online by Jonas Grube JonasFovea/unitree_legged_sdk . Using this repository I was able to confirm that the robot can be controlled from my PC, but to go to the next step for navigation I need to communicate with the robot and control its movement using path planning algorithms.
Can you point out what might be going wrong?

I also observed that the documentation for simulation is still missing (Simulation — GO1 Tutorials 1.0.0 documentation), would this be available in future?

Best regards
Anuj

Sohail · March 28, 2023, 11:45am

Dear @human-bot,

I am trying to control my Go1 robot using the repository qre_go1 but the robot doesn’t respond. I tried both the Quick-Start Teleop and Autonomous Navigation commands listed on quick_start but neither is working on the real robot.

Have you setup a static connection and can you ping the go1. If not please follow networks which has just been updated.

I also observed that the documentation for simulation is still missing (Simulation — GO1 Tutorials 1.0.0 documentation), would this be available in future?

yes

human-bot · March 28, 2023, 12:02pm

Dear Sohail,

Have you setup a static connection and can you ping the go1. If not please follow networks which has just been updated.

Yes, I have setup a static connection and can ping go1.

Sohail · March 28, 2023, 12:09pm

Can you ssh into it? Is it via LAN or WiFi?

human-bot · March 28, 2023, 12:13pm

Yes, I can ssh into it. Connection works for both LAN and WiFi.
As mentioned above, I am able to compile examples from JonasFovea/unitree_legged_sdk/tree/fix, and execute ./example_walk with both LAN and WiFi. The robot responds and moves as expected. I am not seeing this same behavior from either Unitree’s or MBS’s repositories when I try to use the unitree_ros_to_real package.

Sohail · March 28, 2023, 12:33pm

please post the errors.

human-bot · March 28, 2023, 1:31pm

I didn’t observe any errors in the terminal. The main issue is Go1 doesn’t respond. I’m attaching a screenshot of the terminal:

Terminal Output:

go1_navigation@go1:~/catkin_qre_go1$ sudo su
[sudo] password for go1_navigation: 
root@go1:/home/go1_navigation/catkin_qre_go1# source devel/setup.bash 
root@go1:/home/go1_navigation/catkin_qre_go1# roslaunch go1_bringup bringup.launch 
... logging to /root/.ros/log/e0d69e22-cd6b-11ed-82ad-d1535a73d40f/roslaunch-go1-42027.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://go1:43575/

SUMMARY
========

PARAMETERS
 * /go1_controller/local_port: 8090
 * /go1_controller/target_ip: 192.168.123.161
 * /go1_controller/target_port: 8082
 * /joy_teleop/joy_node/autorepeat_rate: 20
 * /joy_teleop/joy_node/deadzone: 0.1
 * /joy_teleop/joy_node/dev: /dev/input/js0
 * /joy_teleop/teleop_twist_joy/axis_angular/yaw: 0
 * /joy_teleop/teleop_twist_joy/axis_linear/x: 1
 * /joy_teleop/teleop_twist_joy/axis_linear/y: 3
 * /joy_teleop/teleop_twist_joy/enable_button: 4
 * /joy_teleop/teleop_twist_joy/enable_turbo_button: 5
 * /joy_teleop/teleop_twist_joy/scale_angular/yaw: 1.85
 * /joy_teleop/teleop_twist_joy/scale_angular_turbo/x: 3.7
 * /joy_teleop/teleop_twist_joy/scale_angular_turbo/y: 3.7
 * /joy_teleop/teleop_twist_joy/scale_angular_turbo/yaw: 3.7
 * /joy_teleop/teleop_twist_joy/scale_linear/x: 1.85
 * /joy_teleop/teleop_twist_joy/scale_linear/y: 1.85
 * /joy_teleop/teleop_twist_joy/scale_linear_turbo/x: 3.7
 * /joy_teleop/teleop_twist_joy/scale_linear_turbo/y: 3.7
 * /local_ekf/ekf_localization_with_odom/base_link_frame: base
 * /local_ekf/ekf_localization_with_odom/frequency: 50
 * /local_ekf/ekf_localization_with_odom/odom0: /go1_controller/odom
 * /local_ekf/ekf_localization_with_odom/odom0_config: [True, True, Fals...
 * /local_ekf/ekf_localization_with_odom/odom0_differential: False
 * /local_ekf/ekf_localization_with_odom/odom0_queue_size: 10
 * /local_ekf/ekf_localization_with_odom/odom_frame: odom
 * /local_ekf/ekf_localization_with_odom/predict_to_current_time: True
 * /local_ekf/ekf_localization_with_odom/publish_tf: True
 * /local_ekf/ekf_localization_with_odom/two_d_mode: True
 * /local_ekf/ekf_localization_with_odom/world_frame: odom
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 1000.0
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /twist_mux/locks: [{'name': 'e_stop...
 * /twist_mux/topics: [{'name': 'joy', ...

NODES
  /
    go1_controller (go1_base/base_node)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    twist_mux (twist_mux/twist_mux)
  /joy_teleop/
    joy_node (joy/joy_node)
    teleop_twist_joy (teleop_twist_joy/teleop_node)
  /local_ekf/
    ekf_localization_with_odom (robot_localization/ekf_localization_node)

auto-starting new master
process[master]: started with pid [42037]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to e0d69e22-cd6b-11ed-82ad-d1535a73d40f
process[rosout-1]: started with pid [42048]
started core service [/rosout]
process[go1_controller-2]: started with pid [42055]
process[robot_state_publisher-3]: started with pid [42056]
process[joy_teleop/joy_node-4]: started with pid [42057]
process[joy_teleop/teleop_twist_joy-5]: started with pid [42059]
process[twist_mux-6]: started with pid [42064]
process[local_ekf/ekf_localization_with_odom-7]: started with pid [42076]
Working mode is set to: high_level
Initializing UDP with ip: 192.168.123.161, local port: 8090, target port: 8082
UDP Initialized. socketfd: 10   Port: 8090
[Loop Start] named: udp_send period: 2(ms)
run at cpu: 3
[Loop Start] named: udp_recv period: 2(ms)
run at cpu: 3
[Loop Start] named: control_loop period: 2(ms)
cpu unspecified

Sohail · March 28, 2023, 1:45pm

And when you run this the GO1 is standing up and is in walk mode?

human-bot · March 28, 2023, 1:52pm

I think so. I just switch on the Go1 robot, then it stands up automatically and then I execute commands in the terminal. I have tried with both LAN and WiFi.

Sohail · March 28, 2023, 1:56pm

Please press start when it stands up and then test.

human-bot · March 28, 2023, 1:59pm

Tested after pressing start, still the same. No response from Go1 to teleop commands

Sohail · March 28, 2023, 2:51pm

Please connect to the Wifi and provide the legged sports version as well as the firmware version. It might be a mismatch. The IP to check on browser is 192.168.12.1 with WiFi.