[Unitree Go2] GO2 EDU – Topics only forwarding via Ethernet, not WiFi (Jetson board, CycloneDDS)

Software
1

Hi everyone,

I’m using the GO2 EDU and followed the installation from the qre_go2 GitHub repo on the Jetson board. Everything is working fine so far.

I’ve also added a WiFi dongle to access the system wirelessly. The CycloneDDS config seems correct, but the ROS 2 topics are only being forwarded over Ethernet, not via WiFi.

Has anyone experienced this issue before?
Do I need to modify any additional configuration (CycloneDDS or system network settings) to make the topics publish and subscribe properly over WiFi as well?

Thanks a lot for any hints or guidance!

2

The DDS config has to be selected for your specific wifi port. You can try this and replace the domain id and WiFi port with the one in your go2. You can get that with ifconfig

The cyclone dds file:

<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
    <Domain Id="any">
        <General>
            <Interfaces>
                <NetworkInterface name="eth0" priority="default" multicast="default" />
            </Interfaces>
            <AllowMulticast>spdp</AllowMulticast>
        </General>
    </Domain>

    <!-- <Domain Id="10">
        <General>
            <Interfaces>
                <NetworkInterface name="wlan0" priority="default" multicast="default" />
            </Interfaces>
            <AllowMulticast>true</AllowMulticast>
            <EnableMulticastLoopback>true</EnableMulticastLoopback>
        </General>

        <Discovery>
            <Peers>
                <Peer address="192.168.68.167"/>
                <Peer address="192.168.68.165"/>
            </Peers>
            <ParticipantIndex>auto</ParticipantIndex>
            <MaxAutoParticipantIndex>100</MaxAutoParticipantIndex>
        </Discovery>
    </Domain> -->

</CycloneDDS>