Autonomous Navigation package for Unitree GO2.

Author: Sayantani Bhattacharya

Procedure to run:

Current(will try to reduce the steps):

Terminal 0 [Prepping Environment]:

./setup.sh  # In the unitree_ros submodule after connecting to GO2, as mentioned in its ReadMe.
source /opt/ros/jazzy/setup.bash
source install/setup.bash

Terminal 1: [unitree_go2_nav] -> run in [main_pkg]

As a sanity check delete the previous map (rm ~/.ros/rtabmap.db)

ros2 launch unitree_go2_nav navigation.launch.py The base launch file for transforms, robot-state, slam and manual navigation.

  ros2 launch unitree_go2_nav navigation.launch.py

Terminal 2: [main_pkg]

This subscripes to map data by rtabmap pkg, and unitree topics, And solves for exploration goals.

Terminal 4: [unitree_ros]

./install/unitree_ros2_example/bin/high_level_ctrl This publishes to Unitree APIs, final abstaction layer.

./install/unitree_ros2_example/bin/high_level_ctrl 

Terminal 5:

Trigger for GO2 to start exploring.

ros2 service call /explore_start go2_exploration_interfaces/srv/Empty

Troubleshooting

1. When building unitree_go2_nav for the first time, or after colcon clean,always follow:

   colcon build --packages-select cyclonedds
   source /opt/ros/jazzy/setup.bash  # [dont have this in bashrc if you are following the instruction of unitree_ros2, and using cyclonedds as middleware]
   colcon build
   source install/setup.bash