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Go1 Quadruped, power the robot and access the topics

Hello,

I am trying to control the gait of my Go1. To start my journey I hung the robot in the air and connected an ethernet cable from the robot to my external computer. I have 2 problems:
1 - The robot runs on battery and this limits my work to 2 hours maximum, and then I need to charge the battery again before trying again. Is there a possibility to power the robot with the power supply port (24V, 30A), and not use the battery at all?
2 - I cannot see any topic published. When I use my external computer, I tried 2 strategies:
- Connect with ssh to each of the 3 nanos, but there rostopic list outputs “cannot communicate with master”
- Install unitree_legged_sdk on my external computer and run the examples (e.g., sudo ./example_position), but this just outputs a list of zeroes on the terminal, and nothing happens, even when I manually move the joints of the robot.

Is it possible to help me with this?

Thank you in advance!

Dear Rob,

thanks for your topic.

  1. Sure, that’s possible with very less work :wink: On the right side of your robot is a small cap and underneath you will find a XT30 Connector which can be used for external power

  1. One of our software engineers can help you for sure.
    @Sohail @Tahir Could you please check it and assist Rob?

Have a nice day and a lot of fun with the robot :slight_smile:

Hi @Rob Can you please confirm if you have purchased the robot from MYBOTSHOP and can also confirm if you have access to docs.quadruped.de?

Thank you @MYBOTSHOP_Support !

Hi @Tahir, Yes I can confirm that I bought the robot from you, but I don’t seem to have access to the documentation you linked. I tried using the same credentials as those for this forum.

@Rob,

thanks for your confirmation. Could you please send us a short email with your Order ID, Invoice no. etc. to info@mybotshop.de so we can send you new access datas to our docs?

Sure, I just sent it

2 - I cannot see any topic published. When I use my external computer, I tried 2 strategies:

  • Connect with ssh to each of the 3 nanos, but there rostopic list outputs “cannot communicate with master”
  • Install unitree_legged_sdk on my external computer and run the examples (e.g., sudo ./example_position), but this just outputs a list of zeroes on the terminal, and nothing happens, even when I manually move the joints of the robot.


Hi @Rob ,

The GO1 which has not been pre-configured by us and is from the manufacturers does not have ROS running on startup (i.e. none of our ros packages) nor the topic lists.

If the unitree_legged_sdk is not working it might be due to the firmware mismatch or the wrong unitree_legged_sdk version. I would advise following this GO1 Unitree_legged_sdk Tutorial for connecting and controlling the robot via SSH.

Hope this solves your issues.

Kind Regards,
S. O. Sohail

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