Quick Development

This document provides a guide on how to quickly develop applications for the G1 robot using the unitree_sdk2.

Environment Requirements

System Requirements

Development is recommended on Ubuntu 20.04. Development on Mac and Windows systems is currently not supported. PC1 runs the official service and does not support development; PC2 can be accessed for development.

Network Requirements

Connect the user computer and the G1 switch to the same network. New users are advised to connect the user computer to the G1 switch using a network cable and adapter, and configure the network card communicating with the robot to the 192.168.123.X subnet, preferably using 192.168.123.99. Experienced users can configure the network environment as needed.

Installation and Compilation

Installing unitree_sdk2

To install unitree_sdk2, navigate to the unitree_sdk2 directory and run the following commands:

cd unitree_sdk2/
mkdir build
cd build
cmake ..
sudo make install

Compiling the Included Examples

To compile the included examples, navigate to the unitree_sdk2 directory and execute the following commands:

cd unitree_sdk2
mkdir build
cd build
cmake ..
make

If successful, the compiled examples will be located in the unitree_sdk2/build directory.

Modifying Network Configuration

Configuration steps:

1. Connect one end of a network cable to the robot and the other end to the user’s computer. Enable USB Ethernet on the computer and configure it. The robot’s onboard computer IP address is 192.168.123.161, so set the computer’s USB Ethernet address to the same subnet, such as 192.168.123.222.

   

   To test if the user computer and the robot’s onboard computer are properly connected, enter ping 192.168.123.161 in the terminal. A similar output to the image below indicates a successful connection.

   

2. Identify the network card name corresponding to the 123 subnet using the ifconfig command, as shown below:

   

   The network card name corresponding to IP 192.168.123.222 is enxf8e43b808e06. Note this name as it will be required when running examples.

Running Examples

Entering Debug Mode

Follow the Quick Start Guide to ensure the robot is in debug mode.

Compiling and Running the Low-Level Control Routine

Note: Running this routine will move multiple joints of the G1. To protect the robot, please suspend the robot before running this routine.

cd unitree_sdk2
cmake -Bbuild
cmake --build build
./build/bin/g1_ankle_swing_example network_interface_name

For more details on the routine, refer to the Basic Motion Routine.