[Unitree Go2] Go2_bringup issue

Software
1

Hello Everyone,

image
image955×522 15 KB

  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…

    image
    image1538×875 74.5 KB

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
    image
    image1138×799 115 KB
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

12

Hello Sohail, My problem got resolved with v1.5 release repo but I have hesai xt16 lidar and I want to perform slam, should I again revert to v2.0 release or is there a way I can get required drivers and package for Lidar Hesai XT16 model?