Unitree-go2w

slide: https://tzf230201.github.io/unitree-go2w-autonomous-carrier/

remote via NoMachine (recommended):

NoMachine server is already installed on this robot (nxserver) and listens on port 4000.

Connect from your laptop:

1. Install NoMachine client.
2. Create a new connection to one of robot IPs:
   • 192.168.123.18 (LAN dock)
   • 192.168.0.90 (Wi-Fi adapter)
3. Port: 4000
4. Login with robot username/password (unitree user).

Check server on robot:

sudo systemctl status nxserver
ss -tulpn | grep :4000

legacy remote via noVNC (optional):

Install NoVNC:

https://github.com/anh0001/ubuntu-novnc-quickstart

Open browser:

http://192.168.0.90:6080/vnc.html

Connect to PC

in case using LAN cable

https://techshare.co.jp/faq/unitree/unitree-go2_pc_lan.html#1-1_Docking_Station in this case i'm using 192.168.123.163

in case using Wifi Adapter

https://github.com/tzf230201/unitree-go2w-autonomous-carrier/tree/main/wifi_adapter

VSCode setup

1. install remote development extention
2. ctrl+shift+p
3. Remote-SSH: Connect to Host…
4. ssh unitree@192.168.123.18
5. (optional) for ssh -X / ssh -Y, do not hardcode DISPLAY in ~/.bashrc

Development

datasheet: https://support.unitree.com/home/en/Go2-W_developer/about_Go2-W

teleop

https://techshare.co.jp/faq/unitree/unitree-go_cmd_vel_control.html

or basically:

If you see No executable found for cmd_vel_control, your ROS 2 environment is being shadowed by another overlay (commonly ~/go2w_ws/unitree_ros2/install) which contains an older unitree_ros2_example package without that executable.

Use this safe sourcing order (dependencies first, then this workspace) and prefer local_setup.bash (not setup.bash) to avoid the generated prefix-chain ordering:

unset AMENT_PREFIX_PATH CMAKE_PREFIX_PATH COLCON_PREFIX_PATH PYTHONPATH
source /opt/ros/foxy/setup.bash
source ~/go2w_ws/unitree_ros2/install/local_setup.bash
source ~/go2w_ws/install/local_setup.bash

ros2 run unitree_ros2_example cmd_vel_control
ros2 run teleop_twist_keyboard teleop_twist_keyboard

colcon build --packages-select unitree_ros2_example

XT16 Lidar

how to install

https://techshare.co.jp/faq/unitree/go2_xt16_foxy.html

how to run

cd go2w_ws
source install/setup.bash
ros2 run hesai_ros_driver hesai_ros_driver_node

troubleshooting: LidarState message missing

Most important symptom:

AttributeError: module 'unitree_go.msg' has no attribute 'LidarState'

Artinya: saat ros2 topic echo /utlidar/lidar_state jalan, ROS2 mencoba import tipe pesan bernama unitree_go/msg/LidarState, tapi di instalasi kamu message itu tidak ada / tidak ter-generate / tidak tersource.

In this repo, the most common root cause is a broken/older overlay (commonly ~/go2w_ws/unitree_ros2/install) shadowing the correct unitree_go Python message package. You can confirm which one is being imported:

python3 -c "import unitree_go,unitree_go.msg; print(unitree_go.__file__); print('has LidarState:', hasattr(unitree_go.msg,'LidarState'))"

Safe fix for this workspace (clean + source only what you need):

unset AMENT_PREFIX_PATH CMAKE_PREFIX_PATH COLCON_PREFIX_PATH PYTHONPATH
source /opt/ros/foxy/setup.bash
source ~/go2w_ws/install/local_setup.bash

# Foxy doesn't have --once; use timeout if you only want 1-2 seconds of output
timeout 2 ros2 topic echo /utlidar/lidar_state

built-in Unitree SLAM (without building your own stack)

Unitree docs state that unitree_slam and test routines can conflict with ROS/ROS2 initialized shells. Use separate terminals:

Terminal A: run Unitree built-in SLAM only (no ROS sourcing)

env -i HOME=$HOME USER=$USER SHELL=/bin/bash TERM=$TERM PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin bash --noprofile --norc

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=~/go2w_ws/cyclonedds_ws/cyclonedds.xml

cd /unitree/module/unitree_slam/bin
./unitree_slam

Open another non-ROS terminal for lidar driver (pick one):

env -i HOME=$HOME USER=$USER SHELL=/bin/bash TERM=$TERM PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin bash --noprofile --norc
cd /unitree/module/unitree_slam/bin
./mid360_driver
# or
./xt16_driver

Optional test client (also non-ROS shell):

cd /unitree/module/unitree_slam/bin
./keyDemo eth0

Terminal B: ROS2 workspace (monitoring/tools only)

unset AMENT_PREFIX_PATH CMAKE_PREFIX_PATH COLCON_PREFIX_PATH PYTHONPATH LD_LIBRARY_PATH
source /opt/ros/foxy/setup.bash
source ~/go2w_ws/install/local_setup.bash

Recommended: do not start heavy ROS2 nodes while built-in SLAM is running on dock PC.

quick rule

• Built-in SLAM binaries (unitree_slam, mid360_driver/xt16_driver, keyDemo): run in clean non-ROS shell.
• ROS2 tools/nodes: run in separate ROS2 shell.
• Do not source ROS and run built-in SLAM binaries in the same terminal session.

helper scripts (recommended)

From ~/go2w_ws/src/unitree-go2w-autonomous-carrier:

chmod +x scripts/*.sh

Terminal A:

./scripts/run_unitree_slam.sh

Terminal B:

./scripts/run_xt16_driver.sh

Optional command terminal:

./scripts/run_keydemo.sh eth0

Optional ROS2 monitor shell:

./scripts/run_ros2_monitor_shell.sh

One command to run built-in SLAM stack (tmux):

./scripts/run_builtin_slam_stack.sh
# then:
tmux attach -t go2w_slam

d-lio

https://techshare.co.jp/faq/unitree/xt16-on-go2_d-lio.html

Acknowledgement:

the go2w_joints_state_publisher is modified from this: https://github.com/felixokolo/go2_slam_2d_3d.git especiallly this part: https://github.com/felixokolo/go2_slam_2d_3d/tree/main/src/go2_joints_state_publisher

the go2w_cmd_vel_control is modified from this: https://github.com/TechShare-inc/go2_unitree_ros2.git

the pointcloud_to_laserscan from : https://github.com/felixokolo/pointcloud_to_laserscan/tree/97c195bbc84f410263178a02ee1117b661a45015