Go2Py

Python interface, example controllers, and calibration tools for the Unitree Go2 robot.

System Setup

The GO2 EDU comes with an onbard Jetson Orin NX, a Hessai LX-16 LiDAR sensor, and an intel Realsense D435i camera. This setup procedure targets the onboard Jetson Orin with IP 192.168.123.18 and presents the installation proceudures of nodes for reading the sensors and robot states and publisheing them as ROS2 topics plus some basic configurations for setting up the autostart services and sharing internet. The architecture of the GO2 system is illustrated in the following image: TODO: add image

Internet Sharing

In order to access internet on the Jetson computer, we hook the robot to a host development computer with internet access and configure it to share its connection with the robot. To cofigure the host computer, the follwoing steps should be taken:

Host Computer

The following steps configures the host computer to share its intentrent with the robot.

Enable IP forwarding:

sudo sysctl -w net.ipv4.ip_forward=1

Configure the iptables:

sudo iptables -t nat -A POSTROUTING -o wlan0 -j MASQUERADE
sudo iptables -A FORWARD -i wlan0 -o eth0 -m state --state RELATED,ESTABLISHED -j ACCEPT
sudo iptables -A FORWARD -i eth0 -o wlan0 -j ACCEPT

Note that wlan0 should be replaced with the actual name of the network interface over which the internet is provided to the host computer, and eth0 should be replaced with the name of the Ethernet interface connected to the robot and having a local IP address in robot's network range.

Storing the Settings

Make the iptables rules persistent by installing the iptables-persistent:

sudo apt-get install iptables-persistent
sudo iptables-save > /etc/iptables/rules.v4
sudo ip6tables-save > /etc/iptables/rules.v6

Robot

Now tell the computer on the robot to use the internet shared by the host computer. SSH into the robot's computer with IP address 192.168.123.18, username unitree and password 123. Note that the host computer's IP reange should have already been set to static mode with an IP in 192.168.123.* range.

sudo ip route add default via <host computer IP address>

Finally, configure the DNS server by adding the following to the /etc/resolv.conf file:

nameserver 8.8.8.8

Note: Similarly to the host computer, you can make save this configuration using the iptables-persistent tool.

If everything has been successful, you should be able to access the internet on the robot. Run ping www.google.com to verify this.