[Unitree Go2] Go2_bringup issue

Software
1

Hello Everyone,

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  1. go2_bringup
    I was going through the booklet, and came across the verfiying step for go2_bringup and faced this error…
    I have followed all the process step by step for installing repo in jetson (foxy-nvidia) and host (foxy) branch and able to load up go2_viz view_robot.launch.py

  2. Teleop twist keyboard
    Also while performing teleop, I was able to increase/decrease speed, and all but not able to move the robot trhough u,i,o keys…

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2

Hi are you using v1.5 or v2.0, if v1.5 please check the go2_bringup/scripts/startup_installer.py for service names as they were changed in the final update of v1.5 it probably is be go2-

3

Yes i am using v1.5 and yes the packages names are from “go2-”

4

I meant check the go2_bringup/scripts/startup_installer.py. In there you can find wat the services are called e.g. sudo service go2-platform status

5

Oh…Ok.
@Sohail Can you tell about how can I teleop the go2 using twist keyboard?

6

The command for teleop has to be remapped you can view the readme of qre_go2 on how to remap

7

I remapped but no progress.

8

CAn you do ros2 topic list and tell the output also please do it in ros domain id 10 as well

9
  1. ros2 topic list
    ros2_topics.txt (2.1 KB)
  2. ros2 topic list list using ros domain id 10
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10

V2.0 is being used please use release v1.5.0. Also try teleop twist with the /go2_unit_16344/hardware/cmd_vel

11

It is working with v1.5. Apparently there was issue with my cyclonedds.xml file location path in setup.bash