[Unitree GO2] Action Modes via ROS Service not available

General Discussion
1

Hi,
I am using QRE GO2 EDU and I am testing the action modes steps in the manual.
I have tested before with ROS_DOMAIN_ID=10 ros2 service call /go2_unit_41097/modes go2_interface/srv/Go2Modes "{request_data: ’stand_up’}" and it only works when I use the terminal on remote screen on webserver. Action modes with a terminal using SSH to the GO2 is not working.
But today when I trying again on the terminal on remote screen on webserver, it does not work anymore. And I get such response response: go2_interface.srv.Go2Modes_Response(success=False, reason='Failed to set GO2 mode')
Does anyone have similar situation? Many thanks in advance!

Best regards

2

Please check the following

  • Are the drivers running? (You can confirm via the webserver)
  • Are you in the correct DDS domain 10?
  • Can you do ros2 topic list/ ros2 action list and see if the action topics show up?
  • Is the namespace correct go2_unit_41097 and corresponds to the action topics showing up?

If everything above is correct

  • Has the DDS configuration been set correctly. Try using cyclonedds when testing via terminal.

Please note that once the drivers are started via the webserver without error, then when you ssh and set the domain id to 10 it should work out of the box.

3

Hi Sohail,
To the first three questions:

  1. Yes the drviers are all running when you mean these robot modules on the webserver.
  2. I think yes because the communication between PC and Dog is ok as I can see all topics with ros2 topic list
  3. Here is the problem. I can see nothing under ros2 action list

Best,

4

Could you share a screenshot of ros2 node info of all the running ros2 nodes.

5

Here is the screenshot
Screenshot from 2025-11-20 10-00-41

6

Could you post a screenshot of ros2 info of go2_highroscontrol?

7

nodeinfo_control
nodeinfo_control1031×459 105 KB

8

Please check ros2 service list as well. and try the following command:

ROS_DOMAIN_ID=10 ros2 service call /$GO2_NS/modes go2_interface/srv/Go2Modes "{request_data: 'stand_down'}"

in the robot terminal.

THere are no actions for main driver only services.