GO1-ROS - Noetic Branch

CPS Docker Workspace for Unitree GO1 ROS Development

Introduction

This repository contains all the necessary code to start developing ROS packages for the Unitree GO1 quadruped robot using Docker. Docker simplifies running different ROS environments on modern operating systems and provides a safe environment to run code on GO1 hardware (Jetson Nano, Raspberry Pi) without heavily modifying the base system, which uses an arm64 architecture.

Table of Contents

• Setup
  • Prerequisites
  • Install Docker
  • Network Configuration
  • Pulling Docker Images
  • Building Docker Images Locally
• Information
  • Understanding Docker Image Builds
  • GitHub Workflows and GHCR
• Using the Robot
  • OliveTin Web User Interface
• Services Overview
• Docker Compose Configuration

Setup

Prerequisites

Ensure you have the following installed: - Docker - Docker Compose - An Intel or NVIDIA GPU (optional, for GPU support) - ~~An X11 server running on your host machine~~

Install Docker

To install Docker, follow the instructions on the official Docker website: Docker Installation.

For Ubuntu, you can use these commands: sh curl -fsSL https://get.docker.com -o get-docker.sh sudo sh get-docker.sh

Then, allow your user to access Docker without sudo: sh sudo usermod -aG docker $USER newgrp docker

Network Configuration

Refer to the GO1 networking diagram for details on network setup:

Pulling Docker Images

The Docker images are built automatically via GitHub workflows and are available on GitHub Container Registry (GHCR). To pull these images, use:

sh docker compose pull

Building Docker Images Locally

If you need to build the Docker images locally, use the following commands:

sh docker buildx bake --load

Test Docker Services

Start a service: ```sh docker compose up -d >service_name<

```

Enter the ROS shell: sh docker compose run guis

Or start RViz: sh docker compose run guis rviz

Additional First Steps on the go1-pc:

Some additional setup is needed on the PC to enable all features for remote supervision. The necessary scripts are included in the init/ folder. To run them, use the following commands:

sh cd init ./run_all.sh

Information

Understanding Docker Image Builds

Docker images are built using Dockerfiles which define the environment and the steps required to set up the software inside the container. The docker buildx bake command allows for concurrent builds, making the process more efficient. For more information on Docker builds, visit the Docker Build Documentation.

GitHub Workflows and GHCR

GitHub workflows automate the process of building and deploying Docker images. In this repository, a GitHub workflow is set up to build the Docker images and push them to the GitHub Container Registry (GHCR). GHCR is a service provided by GitHub for hosting container images. For more information on GitHub workflows and GHCR, visit: - GitHub Actions Documentation - GitHub Container Registry Documentation

Using the Robot

There are several ways to connect to the go1-pc. Keep in mind that for now, you have to be in the same network to connect.

SSH

To connect to the go1-pc via SSH, use the following command:

sh ssh >your_user<@go1-pc.local

RDP

On Linux systems install the Remmina RDP client and connect to the go1-pc via RDP. From Windows clients this is possible too.

Connection details:

Protocol RDP
Server go1-pc.local
Username >administrator_account<
Password >administrator_password<

OliveTin Web User Interface

The OliveTin web user interface allows for easy management of the Docker Compose services and the system itself. It is hosted on go1-pc:1337/. With OliveTin, you can: - Start the Docker Compose services - Stop the Docker Compose services - Reboot/Shutdown the go1-pc

To access OliveTin, when you are connected to the robot network, open a web browser and navigate to http://go1-pc.local:1337/.

Services Overview

Base Service (base)

The base service includes all necessary dependencies for running ROS, such as: - ROS installation - Networking and IPC settings for ROS communication - X11 configuration for GUI applications - NVIDIA GPU support

Overlay Service (overlay)

The overlay service builds on the base service by adding project-specific source code, allowing you to develop and run your ROS projects within the Docker environment.

GUI Service (guis)

The guis service extends the overlay service to include additional dependencies for GUI applications, useful for running graphical ROS tools.

ROS1 Bridge Service (ros1bridge)

The ros1bridge service sets up a bridge between ROS1 and ROS2, facilitating communication between ROS1 and ROS2 nodes.

ROS1 Roscore Service (roscore)

The roscore service runs the roscore, the central node in a ROS1 system, handling the naming and registration of ROS nodes. This service should be run first before starting the other services.

Docker Compose Configuration

The Dockerfile defines the images for each service, setting up base dependencies, project overlays, and GUI dependencies.