[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?