[Unitree Go2] ROS2 topics over wifi

Software
1

Hello Everyone!
I have sucessfully done the wireless connection with unitree go2 edu using wifi stick. The snippet is a test i did to confirm.

image
image1538×875 88.6 KB

But after doing ros2 topic list I am not able to see the topics like we can see when the robot dog is connected using ethernet cable.
image
image1538×875 24.5 KB

I guess this issue has been faced by lot of people. I cam across few discussion but not able quite understand what is the solution here.

I’d really appreciate any insights or suggestions from those with experience.
Thanks in advance!

2

It requires changing the cyclone DDS of the Unitree Go2. We recommend using the qre_go2 repo as it is pre-configured for this.

1 Like
3

Ok.
One more doubt while testing the connection i tried to run a simple cpp program to access front camera but faced an issue saying smoething like this
image

@Sohail Is this error same related to DDS?

4

Yes this is related to DDS

5

@Sohail Hello Sohail,
I have the wireless connection sucessfully, Will it be okay if I avoid the static 123 setup and continue on wifi for setting the qre_go2 repo?

6

Yes, you can completely ignore it.