Go2 & Go2-W slam doc update#21
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| - **Payload Installation** | ||
| - You may refer to the [Payload Installation Guide](https://support.unitree.com/home/en/developer/Payload). | ||
| - Make sure the Expansion Dock, depth camera, and LiDAR (XT16 or MID-360) are installed properly. |
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depth camera not necessary, mention external LiDAR instead as some customers may be confused and think the existing LiDAR is enough for SLAM
| - **Unitree Software Development Kit** installed and set up | ||
| - You may refer to the [Unitree_SDK_Go2 Installation Guide](https://support.unitree.com/home/en/developer/Quick_start) or the [Unitree_SDK_Go2-W Installation Guide](https://support.unitree.com/home/en/Go2-W_developer/Quick_Start). | ||
| - **Unitree ROS2 Services Interface** installed | ||
| - You may refer to the [ROS2 Services Interface Installation Guide](https://support.unitree.com/home/en/developer/ROS2_service). |
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Maybe can add in a note stating to ensure Cyclone DDS is installed and used. Only if you think it is necessary. I know the link provided already states the use and installation of Cyclone DDS.
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| ## 1. Setup | ||
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| Before jumping into SLAM, ensure that all required configurations are set up on the developer PC. |
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developer PC written here, but User PC is used thereafter.
| - In the terminal: | ||
| - Verify the connection by running: | ||
| - **`ping 192.168.123.18`** for the Go2/Go2-W PC | ||
| - **`ping 192.168.123.20`** for the LiDAR |
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Same here, mention external LiDAR
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| ### 2.2 SLAM Usage |
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Before this step, customers need to edit the SLAM package installed onto the expansion dock before they can use the SLAM package. You may refer here: https://support.unitree.com/home/en/developer/SLAM%20and%20Navigation_service#heading-6
| #### Run RViz | ||
| - Open a terminal. | ||
| - **`source unitree_ros2/setup.sh`** | ||
| - **`cd /unitree/module/unitree_slam/rviz2/`** |
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This path is wrong, it should not be "/unitree", but "unitree/module/unitree_slam/rviz2" since it is on User PC, not on the PC2 of the Go2
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| > The following steps involve robot manipulation using the <u>RC (remote controller)</u> and interaction with Terminal 3. | ||
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| #### Mapping |
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Obstacle avoidance needs to be off first
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Oops, nvm, i saw the note below
| - Move the robot to desired checkpoints using the RC and save each position by pressing **S**. | ||
| - **Note:** | ||
| - The distance between the target point and the current position must not exceed <u>10 meters</u>. | ||
| - The minimum distance between each node is recommended to be less than <u>1.5 meters</u>. |
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Minimum distance between each node is recommended to be more than 1.5 meters
| - **Note:** | ||
| - The distance between the target point and the current position must not exceed <u>10 meters</u>. | ||
| - The minimum distance between each node is recommended to be less than <u>1.5 meters</u>. | ||
| - The robot moves in a straight line. |
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Not sure if this is correct, pretty sure it can turn...
| - Review the map and relocation process on the User PC. | ||
| - On Terminal 3, press **A** to localize. | ||
| - Press **D** to start the navigation loop. | ||
| - After completing all saved nodes, the robot will return to the original start location. |
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Can add in the route's order, e.g., 3 nodes, the order will look like so: 1 --> 2 --> 3 --> 2 --> 1 (repeats until stopped)
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Minor issue to me since this the first time you're doing this, but the branch name should be have a defining term like "feature-go2_slam_doc_update" and note the use of "-" and "_". |
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