Hi!
My question concerns Unitree b1. When accessing the Jetson wirelessly by using ssh we need to ssh the main PC of the robot first. We have connected a lidar in one of the Jetsons and would like to visualize the data by using Rviz on our user PC. We tried to use export ros master -command but Jetson address cannot be pinged from our user PC even though we are connected to b1 hotspot. Do you have any ideas how to visualize the data wirelessly? Many thanks already!
Dear @iiris,
The issue is that the when setting ROS Master, the B1’s local IP is in the range of 123, whereas the WiFi IP is in the range of 12. If you the ROS export on the the 12 IP then you wont be able to communicate with the data coming from 123 which are the other jetsons.
You have a few options to resolve this, first of which is connecting the IP’s virtually so data from one is streamlined to another.
The second option is to connect using a WiFi stick to a router who is also on the 123 IP range allowing all the data to be viewed to whoever is connected to the network.
Another option for quick debugging is to open rviz directly on the robot with the following commands:
ssh -XC unitree@192.168.12.***