[Unitree Go2 EDU] No point cloud

General Discussion
1

Hello,
I had installed the qre_go2 repo on our Go2 EDU.
From now on, I can access to the webpage and see that all services seems to run correctly :

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But when I wan to try the “robot viewer”, I get too much warning message on the console from internal lidar :

ros2 launch go2_viz view_robot.launch.py

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And no point cloud :

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The only points displayed are from the GO2_Scan topic

Even the point cloud from the D435i are not displayed. (while it’s camera can be displayed)

What could be wrong ?

Accessory question, why it is not the right robot displayed ?

Thanks

2

Hi,

  • Are you viewing the rviz2 on an external computer or within the unitree go2’s computer
    • If so try using vnc and viewing from the internal computer
  • Have you tried echoing the topics?
    • Ensure you are in ROS_DOMAIN_ID=10 when doing so
  • Have you tried enabling the RViz2 tick boxes for all the sensors?
    • Did you click enable on the tickboxes for the sensors, it seems the PCD pointcloud ones are unchecked.
  • Try restarting all the services with RViz2 already open
  • Ensure that your external computer has only one network enabled that is connected to the Unitree Go2

This is both for the point cloud and the d435i.

3

  • All my test were done from the internal Nvidia computer.
    I attached screen and keyboard to the robot.

  • It’s not working also with the ROS_DOMAIN

  • All tick box didn’t change anything

4

Could you attach a recording of exactly how you start it?

5

Hello,
What do you mean by a record of how I start it ?
I followed your installation guide and power it up.
Thanks

6

Screen recording of the process

7

I will try to make screenshots but I don’t think it will be more usefull that the ones upside.

May it be a problem related with the clock ?
I managed to make the lidar works 2 times, without changing anything in the config.
The only things I do was to plug a USB/Ethernet dongle and the jetson to the Internet so the jetson computer has a correct time.

Currently the robot is only connected thru USB-C to a dock with a screen and a keyboard so each time it boot, the date is reset to 1970

8

We finally purchased an USB/Wifi dongle.
From now on, point cloud is working :

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I really think it’s a time desynchronisation that make embedded computer reporting different timestamp to the nvidia computer (wich didn’t had access to the internet), and one transform makes the point cloud not working.

Now I’m facing other problems, D435i not detected even with lsusb and wifi is not working on some more secured networks