[Unitree Go2] ROS2 topic access

Software
1

I was trying to access ros2 topics over wifi but unsucessful. Now I am not able to see the ros2 topics over ethernet as well. Before changing the interface name there was not problem. I reverted all the changes I did but still not able to see it. Anybody tried and recovered through this problem?

2

Are you referring to the Unitrees native ROS2 topic or from the qre_go2 repository?

3

both. native ros2 topics and qre_go2

4

If you have the latest version correctly installed, then in the terminal of external pc

export ROS_DOMAIN_ID=10
ros2 topic list

Also, please share your

ifconfig
5

the export command worked. I am able to see all ros2 topics. Thank you.

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But I want to do the wireless connection, I have done it before as well sucessfully, didn’t faced any problem. Idk why it is not happening now?

Here is my ifconfig snippet, if possible can you help me with wireless connectivity, I am sure I have to change the interface name from enp0s31f6 to wlp82s0

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6

If WiFi is always enabled you try using this cyclone profile adding one more for wlan interface

<?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>
</CycloneDDS>

Also, you have to export the env variable

export CYCLONEDDS_URI=/home/unitree/multi_rmw.xml