[Unitree Go2] Can not build qre_go2 repository

General Discussion
1

Hello,

I have access to the customer qre_go2 repo and have tried setting it up for my GO2 Edu version. I have followed all steps and copied the repository to the nvidia on-board computer. However, when executing

colcon build --symlink-install

all packages build until “go2_platform” fails with the following exception:

“— stderr: go2_platform
/usr/bin/ld: cannot find -lunitree_sdk2”

I have uploaded the full log to pastebin colcon build --symlink-install[5.579s] WARNING:colcon.colcon_core.package_sele - Pastebin.com

I can not really make sense of this error, however I have tried manually installing the Unitree SDK, which has also not helped.

I’d be really thankful for every help to our GO2 up and running! :smile:

2

Is this v1.5.0 or v2.0.0? Generally, for this, it means that Nvidia has not built the go2 SDK, which should not be the case usually. To fix it simply got to third part inside unitress SDK and

mkdir build 
cd build
cmake ..
make 
sudo make install

and rebuild the pkg

3

Thank you so much, I managed to get it working now.

My version is 1.5.0, in the repo I don’t see a v2 tag yet, how would I access that?

Another question that came up for us: Which ROS version should we choose for the host PC?
We started with humble on the host, teleop etc. worked fine but we were not able to run the go2_viz package, probably due do the missmatch of foxy on the go2 and humble on the host. Is it preferable to use foxy on both systems?

4

Its preferable that you have the same version as the go2 as in foxy but humble can work with some adjustments.

5

Its preferable that you have the same version as the go2 as in foxy but humble can work with some adjustments.