{"id":345321,"date":"2024-01-12T15:57:53","date_gmt":"2024-01-12T06:57:53","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=345321"},"modified":"2025-07-25T14:31:57","modified_gmt":"2025-07-25T05:31:57","slug":"unitree-go2_pc_lan","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/unitree-go2_pc_lan.html","title":{"rendered":"\u3010Unitree Go2\u3011SDK or ROS\u3092\u4f7f\u3046\u65b9\u6cd5"},"content":{"rendered":"<h3>\u521d\u3081\u306b<\/h3>\n<hr \/>\n<p>\u672c\u8a18\u4e8b\u3067\u306f\u3001\u30e6\u30fc\u30b6\u30fc\u5074\u3067\u7528\u610f\u3057\u305f\u5916\u90e8PC\u3092\u7528\u3044\u3066\u3001SDK(<a href=\"https:\/\/github.com\/unitreerobotics\/unitree_sdk2\">unitree_sdk2<\/a>)\u3084ROS(<a href=\"https:\/\/github.com\/unitreerobotics\/unitree_ros2\">unitree_ros2<\/a>)\u3092\u52d5\u304b\u3059\u65b9\u6cd5\u306b\u3064\u3044\u3066\u3054\u6848\u5185\u3057\u307e\u3059\u3002<\/p>\n<p>\u203b\u6700\u7d42\u66f4\u65b0\u65e5\uff1a25\/07\/24<br \/>\n\u203b\u4e0a\u8a18\u6700\u7d42\u66f4\u65b0\u65e5\u3067\u306e\u60c5\u5831\u3068\u306a\u308a\u307e\u3059\u3002FirmwareUpdate\u306b\u3088\u308a\u66f4\u65b0\u3055\u308c\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059<\/p>\n<div style=\"border: 1px solid #ccc; padding: 12px; background-color: #f5f5ff; margin-bottom: 1em;\">\n  <strong>\ud83d\udcd8 \u95a2\u9023\u30ac\u30a4\u30c9<\/strong><\/p>\n<div style=\"margin-top: 8px;\">\n    \ud83d\udd27 <strong>\u3053\u306e\u8a18\u4e8b\u3092\u8aad\u3080\u524d\u306e\u6e96\u5099<\/strong><\/p>\n<ul style=\"margin-top: 4px; padding-left: 1.5em; list-style-type: disc;\">\n<li><a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/go2_internet_access.html\" target=\"_blank\" style=\"color: #0074cc;\">\u3010Unitree Go2\u3011Docking Station \u306e\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u63a5\u7d9a\u65b9\u6cd5<\/a><\/li>\n<li><a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/go2_nomachine.html\" target=\"_blank\" style=\"color: #0074cc;\">\u3010Unitree Go2\u3011NoMachine\u3067Docking Station\u306eGUI\u3092\u4f7f\u3046<\/a><\/li>\n<\/ul><\/div>\n<div style=\"margin-top: 12px;\">\n    \ud83d\ude80 <strong>\u3053\u306e\u8a18\u4e8b\u306e\u5f8c\u306b\u3084\u3063\u3066\u307f\u308b<\/strong><\/p>\n<ul style=\"margin-top: 4px; padding-left: 1.5em; list-style-type: disc;\">\n<li><a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/unitree-go_cmd_vel_control.html\" target=\"_blank\" style=\"color: #0074cc;\">\u3010Unitree Go2\u3011\u30ad\u30fc\u30dc\u30fc\u30c9\u304b\u3089Go2\u3092\u64cd\u4f5c\u3059\u308b\uff12\u6b21\u958b\u767a\u65b9\u6cd5<\/a><\/li>\n<\/ul><\/div>\n<\/div>\n<p>&nbsp;<\/p>\n<h3>\u74b0\u5883<\/h3>\n<hr \/>\n<p>\u74b0\u5883\u306f\u3001\u6b21\u306e\u3088\u3046\u306a\u3082\u306e\u3092\u60f3\u5b9a\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<ul>\n<li>\u6a5f\u7a2e: Go2 <strong>R&amp;D(Edu), R&amp;D+(Edu+)<\/strong>\uff08AIR\/PRO\u3067\u306f\u306a\u3044\u3082\u306e\uff09<\/li>\n<li>Docking Station or \u5916\u90e8PC\uff1aubuntu20 \/ ROS2 foxy<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>\uff10\uff0e\u53c2\u8003\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8<\/h3>\n<hr \/>\n<h5>unitree_sdk2<\/h5>\n<ul>\n<li><a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/Obtain%20SDK\">Obtain SDK &#8211; Go2 SDK Development Guide<\/a><\/li>\n<li><a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/Quick_start\">Quick Start &#8211; Go2 SDK Development Guide<\/a><\/li>\n<\/ul>\n<h5>unitree_ros2<\/h5>\n<ul>\n<li><a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/ROS2_service\">ROS2 Services Interface &#8211; Go2 SDK Development Guide<\/a><\/li>\n<li><a href=\"https:\/\/github.com\/unitreerobotics\/unitree_ros2\/blob\/master\/README.md\">unitree_ros2\/README.md &#8211; github.com<\/a><\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>\uff11\uff0e\u74b0\u5883\u8a2d\u5b9a<\/h3>\n<hr \/>\n<h5>1-1. Docking Station\u306e\u5834\u5408<\/h5>\n<p>R&amp;D\u7248\u4ed8\u5c5e\u306eDocking Staion\u3067\u884c\u3046\u5834\u5408\u306b\u3064\u3044\u3066\u3002<\/p>\n<p>\u6709\u7dda\u3067ssh\u63a5\u7d9a\u3059\u308b\u306b\u306f\u3001<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>ssh unitree@192.168.123.18<\/code><\/pre>\n<\/div>\n<ul>\n<li>\u30e6\u30fc\u30b6\u30fc\u540d\uff1aunitree<\/li>\n<li>\u30d1\u30b9\u30ef\u30fc\u30c9\uff1a123<\/li>\n<li>IP\u30a2\u30c9\u30ec\u30b9\uff1a192.168.123.18<\/li>\n<\/ul>\n<p>\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<p>\u307e\u305f\u3001\u5185\u90e8\u306b\u30ea\u30dd\u30b8\u30c8\u30ea\u3092\u30b9\u30e0\u30fc\u30ba\u306b\u5165\u308c\u308b\u305f\u3081\u3001\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u63a5\u7d9a\u8a2d\u5b9a\u3092\u5148\u306b\u3057\u3066\u304a\u304d\u307e\u3059\u3002<br \/>\n\uff08\u53c2\u7167\uff1a<a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/go2_internet_access.html\">\u3010Unitree Go2\u3011Docking Station \u306e\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u63a5\u7d9a\u65b9\u6cd5<\/a>\uff09<\/p>\n<h5>1-2. \u5916\u90e8PC\u306e\u5834\u5408<\/h5>\n<p>\u5e02\u8ca9\u306e\u5916\u90e8PC\u304b\u3089\u884c\u3046\u5834\u5408\u306f\u3001\u4e0b\u8a18\u306e\u3088\u3046\u306bDocking Station\u3068\u5916\u90e8PC\u3092LAN\u30b1\u30fc\u30d6\u30eb\u3067\u63a5\u7d9a\u3057\u307e\u3059\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/01\/lan_go2_external_pc_.jpg\" alt=\"\" width=\"60%\" \/><br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/01\/lan_go2_docking.jpg\" alt=\"\" width=\"60%\" \/><br \/>\n\u203b Docking Station\u3092\u5916\u3057\u3001Go2\u672c\u4f53\u306b\u76f4\u63a5LAN\u30b1\u30fc\u30d6\u30eb\u3092\u5dee\u3057\u3066\u4f7f\u3046\u3053\u3068\u3082\u3067\u304d\u307e\u3059\u3002<\/p>\n<p>\u305d\u306e\u5f8c\u3001IP\u30a2\u30c9\u30ec\u30b9\u306e\u8a2d\u5b9a\u3092\u884c\u3044\u307e\u3059\u3002<br \/>\n192.168.123.xxx\u3068\u3044\u3046\u5f62\u3067\u6307\u5b9a\u3057\u307e\u3059\u3002192.168.123.18\u3068192.168.123.161\u306f\u65e2\u306b\u4f7f\u308f\u308c\u3066\u3044\u308b\u305f\u3081\u3001\u3053\u308c\u4ee5\u5916\u3092\u4f7f\u7528\u3057\u3066\u304f\u3060\u3055\u3044\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/01\/Go2_external_IP_address.png\" alt=\"\" width=\"100%\" \/><\/p>\n<p>\u3053\u308c\u3067\u63a5\u7d9a\u8a2d\u5b9a\u306f\u5b8c\u4e86\u3057\u307e\u3057\u305f\u3002<br \/>\n\u8a2d\u5b9a\u304c\u3046\u307e\u304f\u884c\u3063\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\u305f\u3081\u306b\u3001\u5916\u90e8PC\u3068Docking Station\u306e\u305d\u308c\u305e\u308c\u304b\u3089ping\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002ping\u304c\u901a\u308c\u3070\u6210\u529f\u3067\u3059\u3002<\/p>\n<pre class=\"prism lang-plain\"><code>$ ping 192.168.123.161<\/code><\/pre>\n<pre class=\"prism lang-plain\"><code>$ ssh unitree@192.168.123.18\r\n$ ping 192.168.123.xxx<\/code><\/pre>\n<p>\uff08xxx\u306f\u5148\u307b\u3069\u6c7a\u3081\u305fIP\u30a2\u30c9\u30ec\u30b9\uff09<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/01\/Go2_ping_internal_external.png\" alt=\"\" width=\"100%\" \/><\/p>\n<p>&nbsp;<\/p>\n<h3>\uff12\uff0eSDK\u3092\u4f7f\u3046\u65b9\u6cd5<\/h3>\n<hr \/>\n<h5>2-1. build<\/h5>\n<p>Docking Station\/\u5916\u90e8PC \u306e\u9069\u5f53\u306a\u5834\u6240\u306b\u3001<a href=\"https:\/\/github.com\/unitreerobotics\/unitree_sdk2\">unitree_sdk2<\/a>\u3092\u5165\u308c\u307e\u3059\u3002<br \/>\n\u305d\u306e\u5f8c\u3001README\u306e\u624b\u9806\u901a\u308a\u306bbuild\u3092\u884c\u3044\u307e\u3059\u3002<\/p>\n<pre class=\"prism lang-plain\"><code>$ cd \/path\/to\/unitree_sdk2\r\n$ mkdir build\r\n$ cd build\r\n$ cmake ..\r\n$ make<\/code><\/pre>\n<h5>2-2. \u5b9f\u884c<\/h5>\n<p>\u4f8b\u3048\u3070\u3001\u4e0b\u8a18\u306e\u3088\u3046\u306b\u3059\u308b\u3053\u3068\u3067\u3001Go2\u306e\u30d8\u30c3\u30c9\u30e9\u30a4\u30c8\u306e\u660e\u308b\u3055\u3092\u6bb5\u968e\u7684\u306b\u5909\u3048\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n<pre class=\"prism lang-plain\"><code>$ .\/vui_client_example eth0<\/code><\/pre>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/01\/Go2_vui_client_example.png\" alt=\"\" width=\"60%\" \/><\/p>\n<p>\u203b\u4eee\u60f3\u74b0\u5883\u7b49\u3092\u4f7f\u3046\u5834\u5408\u306f\u3001eth0\u3067\u306f\u306a\u3044\u5834\u5408\u304c\u3042\u308a\u307e\u3059\u3002ifconfig\u306b\u3088\u3063\u3066\u78ba\u8a8d\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059<br \/>\n\u203b\u30a8\u30e9\u30fc<code>invalid pointer<\/code>\u304c\u8868\u793a\u3055\u308c\u308b\u5834\u5408\u306f\u3001<code>sudo<\/code>\u3092\u3064\u3051\u3066\u5b9f\u884c\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059<\/p>\n<p>example\u306b\u3064\u3044\u3066\u306f\u8a73\u3057\u304f\u306f\u3001\u4e0b\u8a18\u306eFAQ\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\u3002<br \/>\n<a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/unitree-go2_unitree_sdk2.html\">\u3010Unitree Go2\u3011SDK\u306e\u6982\u8981\u306b\u3064\u3044\u3066\u3010unitree_sdk2\u3011<\/a><\/p>\n<h5>2-3. \u5b9f\u884c\u6642\u30a8\u30e9\u30fc\u306b\u3064\u3044\u3066<\/h5>\n<p>\u4e0b\u8a18\u306e\u3088\u3046\u306breturn 3102\u3068\u306a\u308b\u5834\u5408\u306f\u3001\u63a5\u7d9a\u304c\u3046\u307e\u304f\u3044\u3063\u3066\u3044\u307e\u305b\u3093\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/unitree_sdk2_error.png\" alt=\"\" width=\"100%\" \/><br \/>\n\uff08\u5de6\u304c\u30a8\u30e9\u30fc\u6642\u3002\u53f3\u306f\u6210\u529f\u6642\uff09<\/p>\n<p>\u5de6\u306e\u3088\u3046\u306a\u5834\u5408\u306f\u3001\u6b21\u306e\uff12\u70b9\u3092\u3054\u78ba\u8a8d\u304f\u3060\u3055\u3044\uff1a<br \/>\n\u2460 ping\u304c\u901a\u308b\u304b<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ ping 192.168.123.18\r\n$ ping 192.168.123.161<\/code><\/pre>\n<\/div>\n<p>\u2461 ifconfig\u3067192.168.123.xxx\u3068\u5272\u308a\u632f\u3089\u308c\u3066\u3044\u308b\u3082\u306e\u3092\u63a2\u3057\u3001interface name\u3092\u9593\u9055\u3048\u3066\u3044\u306a\u3044\u304b<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ ifconfig<\/code><\/pre>\n<\/div>\n<p>&nbsp;<\/p>\n<h3>\uff13\uff0eROS2\u3092\u4f7f\u3046\u65b9\u6cd5<\/h3>\n<hr \/>\n<p>\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u306f\u3001\u4e0b\u8a18\u306b\u3042\u308a\u307e\u3059\u3002<\/p>\n<ul>\n<li><a href=\"https:\/\/github.com\/unitreerobotics\/unitree_ros2\/blob\/master\/README.md\">unitree_ros2\/README<\/a><\/li>\n<li><a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/ROS2_service\">ROS2_service<\/a><\/li>\n<\/ul>\n<p>\u203b24\/6\/7\u8ffd\u8a18<br \/>\n\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u304c\u3042\u308a\u3001\u4e0b\u8a18\u306e\u624b\u9806\u306f\u5b9f\u969b\u306e\u3084\u308a\u65b9\u3068\u5c11\u3057\u7570\u306a\u308a\u307e\u3059\u3002\u5177\u4f53\u7684\u306b\u306f\u3001foxy\u3067\u884c\u3046\u5834\u5408\u3001apt\u3067\u306ecyclonedds\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3068\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u304b\u3089\u306e\u30d3\u30eb\u30c9\u306e\u4e21\u65b9\u304c\u5fc5\u8981\u306a\u4ed5\u69d8\u306b\u306a\u3063\u3066\u3044\u307e\u3059<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>sudo apt update\r\nsudo apt install ros-foxy-rmw-cyclonedds-cpp\r\nsudo apt install ros-foxy-rosidl-generator-dds-idl<\/code><\/pre>\n<\/div>\n<p>\u3068\u3057\u3066\u3001apt\u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u884c\u3063\u305f\u4e0a\u3067\u4e0b\u8a18\u3068\u540c\u3058\u624b\u9806\u3092\u884c\u3046\u3068\u3001\u6b63\u3057\u304f\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u3059\u308b\u3053\u3068\u304c\u53ef\u80fd\u3067\u3059\u3002<\/p>\n<h5>3-1. build<\/h5>\n<h6>3-1-1. unitree_ros2\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9<\/h6>\n<p>\u5916\u90e8PC\u3082\u3057\u304f\u306fJetsonOrin\u306b\u3001<a href=\"https:\/\/github.com\/unitreerobotics\/unitree_ros2\">unitree_ros2<\/a>\u3092\u5165\u308c\u307e\u3059\u3002<br \/>\n\u5834\u6240\u306fHome\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u76f4\u4e0b\u306a\u3069\u3001\u3069\u3053\u3067\u3082\u3088\u3044\u3067\u3059\u3002<\/p>\n<h6>3-1-2. cyclonedds\u306ebuild\u306e\u6e96\u5099<\/h6>\n<p>unitree_ros2\u3067\u306f\u3001cyclonedds\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002foxy\u74b0\u5883\u3067\u306f\u3001cyclonedds\u306eapt\u3060\u3051\u3067\u306f\u52d5\u304b\u306a\u3044\u305f\u3081\u3001\u30bd\u30fc\u30b9\u304b\u3089\u306ebuild\u3092\u884c\u3044\u307e\u3059\u3002<br \/>\n\u4e0b\u8a18\u306eA, B\u306e\u3069\u3061\u3089\u304b\u3067cyclonedds\u306ebuild\u306e\u6e96\u5099\u3092\u3057\u307e\u3059\u3002<\/p>\n<p><strong>A. .bashrc\u306e\u66f8\u304d\u63db\u3048<\/strong><\/p>\n<pre class=\"prism lang-plain\"><code>$ sudo apt install gedit\r\n$ sudo gedit ~\/.bashrc<\/code><\/pre>\n<p>\u3053\u306e\u6642\u3001~\/.bashrc\u306bfoxy\u306esource\u304c\u3042\u308b\u5834\u5408\u306f\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\u3057\u307e\u3059\u3002<\/p>\n<pre class=\"prism lang-plain\"><code># source \/opt\/ros\/foxy\/setup.bash<\/code><\/pre>\n<p>\u3053\u306e\u5f8c\u3001Terminal\u3092\u7acb\u3061\u4e0a\u3052\u76f4\u3057\u307e\u3059\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/01\/Go2_bashrc_foxy.png\" alt=\"\" width=\"60%\" \/><\/p>\n<p><strong>B. \u6700\u521d\u306bctrl-C\u3067\u629c\u3051\u308b<\/strong><br \/>\nDockingStation\u306e\u5834\u5408\u306f\u3001\u30bf\u30fc\u30df\u30ca\u30eb\u8d77\u52d5\u6642\u306b\u9078\u629e\u80a2\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002\u3053\u3053\u3067\u3001\u4f55\u3082\u9078\u629e\u305b\u305a\u306b Ctrl + C \u3067\u629c\u3051\u3066\u304f\u3060\u3055\u3044\u3002\uff08\u5fc5\u8981\u306a\u3089\u3001terminal\u3092\u4e00\u5ea6\u9589\u3058\u3066\u304b\u3089\u7acb\u3061\u4e0a\u3052\u76f4\u3057\u3066\u304f\u3060\u3055\u3044\uff09<\/p>\n<p>\u4e0a\u8a18\u3001A,B\u306e\u3069\u3061\u3089\u304b\u3092\u884c\u3044\u307e\u3059\u3002<br \/>\n\u6b63\u3057\u304f\u8a2d\u5b9a\u74b0\u5883\u304b\u3092\u78ba\u8a8d\u3059\u308b\u305f\u3081\u306b\u3001<code>ros2<\/code>\u3092\u5b9f\u884c\u3057\u3001&#8221;command not found&#8221; \u3068\u8868\u793a\u3055\u308c\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2025\/02\/go2_no_ros2.png\" alt=\"\" width=\"60%\" \/><\/p>\n<h6>3-1-3. cyclonedds\u306ebuild<\/h6>\n<p>\u524d\u9805\u3067\u78ba\u8a8d\u3057\u305f<code>ros2<\/code>\u3092\u5b9f\u884c\u3057\u3001&#8221;command not found&#8221; \u3068\u306a\u308b\u72b6\u614b\u3067\u3001&#8211;packages-select\u3092\u7528\u3044\u3066\u3001cyclonedds\u306e\u307f\u3092\u30b3\u30f3\u30d1\u30a4\u30eb\u3057\u307e\u3059\u3002<\/p>\n<pre class=\"prism lang-plain\"><code>$ cd ~\/unitree_ros2\/cyclonedds_ws\/src\r\n$ git clone https:\/\/github.com\/ros2\/rmw_cyclonedds -b foxy\r\n$ git clone https:\/\/github.com\/eclipse-cyclonedds\/cyclonedds -b releases\/0.10.x \r\n$ cd ..\r\n$ colcon build --packages-select cyclonedds<\/code><\/pre>\n<h6>3-1-4. unitree_ros2\u5168\u4f53\u306ebuild<\/h6>\n<p>build\u304c\u5b8c\u4e86\u3057\u305f\u3089\u3001\u5f15\u304d\u7d9a\u304d\u540c\u3058terminal\u3067foxy\u306esetup.bash\u3092\u3057\u3001\u305d\u306e\u5f8c\u5168\u4f53\u306e\u30b3\u30f3\u30d1\u30a4\u30eb\u3092\u3057\u307e\u3059\u3002<\/p>\n<pre class=\"prism lang-plain\"><code>$ source \/opt\/ros\/foxy\/setup.bash\r\n$ colcon build<\/code><\/pre>\n<h6>3-1-5. unitree_ros2\/setup.sh\u306e\u4fee\u6b63<\/h6>\n<p>unitree_ros2\/setup.sh\u3092\u4fee\u6b63\u3057\u307e\u3059\u3002<\/p>\n<p>\u30a8\u30c7\u30a3\u30bf\u306f\u4f55\u3067\u3082\u826f\u3044\u3067\u3059\u304c\u3001<\/p>\n<pre class=\"prism lang-plain\"><code>$ vi unitree_ros2\/setup.sh<\/code><\/pre>\n<p>\u3084<\/p>\n<pre class=\"prism lang-plain\"><code>$ gedit unitree_ros2\/setup.sh<\/code><\/pre>\n<p>\u306a\u3069\u3092\u884c\u3044\u307e\u3059\u3002<\/p>\n<p><strong>A. \u6709\u7dda(7\u884c\u76ee)<\/strong><br \/>\n\u6709\u7dda\u30dd\u30fc\u30c8\u540d\u3092\u4fee\u6b63\u3057\u307e\u3059\u3002Docking Station\u4e0a\u3067\u884c\u3046\u5834\u5408\u306feth0\u306b\u306a\u308a\u307e\u3059\u3002\u5916\u90e8PC\u4e0a\u3067\u884c\u3046\u5834\u5408\u306f\u3001eth0\u3067\u306f\u306a\u3044\u5834\u5408\u304c\u3042\u308a\u307e\u3059\u3002ifconfig\u306b\u3088\u3063\u3066\u78ba\u8a8d\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\uff08<a href=\"https:\/\/github.com\/unitreerobotics\/unitree_ros2?tab=readme-ov-file#1-network-configuration\">\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u78ba\u8a8difconfig<\/a>\uff09<\/p>\n<p><strong>B. path(4\u884c\u76ee)<\/strong><br \/>\nunitree_ros2\u304c\u3001home\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u76f4\u4e0b\u306b\u3057\u306a\u3044\u5834\u5408\u306f\u3001Path\u306e\u4fee\u6b63\u3082\u5fc5\u8981\u3067\u3059\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/01\/Go2_ros2_setup.png\" alt=\"\" width=\"60%\" \/><\/p>\n<h5>3-2. \u5b9f\u884c<\/h5>\n<pre class=\"prism lang-plain\"><code>$ source ~\/unitree_ros2\/setup.sh<\/code><\/pre>\n<p>\u3068\u3057\u3066\u5b9f\u884c\u53ef\u80fd\u3067\u3059\u3002<br \/>\n\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u51fa\u3066\u3044\u308bros2 topic\u306e\u78ba\u8a8d\u306a\u3069\u304c\u53ef\u80fd\u3067\u3059\u3002<br \/>\n\uff08\u306a\u304a\u3001ROS_DOMAIN_ID \u306f\u30010 \u306b\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002topic list\u304c\u8868\u793a\u3055\u308c\u306a\u3044\u5834\u5408\u306f ROS_DOMAIN_ID \u304c\u7570\u306a\u308b\u306a\u3069\u306e\u30b1\u30fc\u30b9\u304c\u8003\u3048\u3089\u308c\u307e\u3059\uff09<\/p>\n<p>\u4f8b\u3048\u3070\u30014D LiDAR L1\u306e\u60c5\u5831\u306f\u3001rviz2\u3092\u7acb\u3061\u4e0a\u3052\u3066\u304b\u3089\u3001\/utlidar\/cloud\u30c8\u30d4\u30c3\u30af\u3067\u78ba\u8a8d\u3067\u304d\u307e\u3059\u3002<\/p>\n<pre class=\"prism lang-plain\"><code>$ ros2 run rviz2 rviz2<\/code><\/pre>\n<p>frame\u306f utlidar_lidar \u306b\u3057\u307e\u3059\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/01\/Go2_4D_LiDAR_L1.png\" alt=\"\" width=\"100%\" \/><br \/>\n\uff08LiDAR\u4e2d\u5fc3\u306e\u5ea7\u6a19\u7cfb\u3067\u8868\u793a\u3055\u308c\u3066\u3044\u308b\u305f\u3081\u3001\u4e0a\u4e0b\u304c\u9006\u3055\u307e\u3067\u8868\u793a\u3055\u308c\u3066\u304a\u308a\u3001\u659c\u3081\u306e\u5e73\u9762\u304c\u5730\u9762\u3092\u8868\u3057\u3066\u3044\u308b\uff09<\/p>\n<p>\u4ed6\u306b\u306f\u3001\/sportmodestate\u3067\u5404\u7a2e\u60c5\u5831\u3092\u53d6\u5f97\u3067\u304d\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ ros2 topic echo \/sportmodestate <\/code><\/pre>\n<\/div>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/04\/Go2_sportmodestate_footforce.png\" alt=\"\" width=\"100%\" \/><br \/>\n\u4f8b\u3048\u3070\u8db3\u5148\u306e\u8089\u7403\u3092\u62bc\u3059\u3068\u3001foorforce\u306e\u5024\u304c\u5927\u304d\u304f\u306a\u308b\u3002<\/p>\n<h5>3-3. ROS2\u306eexample\u3092\u52d5\u304b\u3059<\/h5>\n<p>ROS2\u306eexample\u3082\u3044\u304f\u3064\u304b\u7528\u610f\u3055\u308c\u3066\u304a\u308a\u3001\u4e0b\u8a18\u306e\u3088\u3046\u306b\u884c\u3046\u3053\u3068\u3067\u30b3\u30f3\u30d1\u30a4\u30eb\u3067\u304d\u307e\u3059\u3002<\/p>\n<pre class=\"prism lang-plain\"><code>$ source ~\/unitree_ros2\/setup.sh\r\n$ cd ~unitree_ros2\/Go2_ROS2_example\r\n$ colcon build<\/code><\/pre>\n<p>\u5b9f\u884c\u306f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u3060\u3068\u4e0b\u8a18\u306e\u3088\u3046\u306b\u66f8\u304b\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n<pre class=\"prism lang-plain\"><code>$\u3000.\/install\/go2_demo\/lib\/go2_demo\/read_motion_state <\/code><\/pre>\n<p>\u305f\u3060\u3001CMakeLists\u3092<a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/unitree-go2_pc_lan.html#3-2_ros2_run\">\u4e0b\u8a18\u88dc\u8db32<\/a>\u306e\u3088\u3046\u306b\u884c\u3048\u3070\u3001\u666e\u901a\u306eROS2\u306e\u65b9\u6cd5\u3067\u3082\u554f\u984c\u306a\u304f\u3067\u304d\u307e\u3059\u3002<\/p>\n<pre class=\"prism lang-plain\"><code>$\u3000. install\/setup.bash\r\n$ ros2 run go2_demo <\/code><\/pre>\n<p>\u307e\u305f\u3001ROS2\u306e\u30b5\u30f3\u30d7\u30eb\u3067\u3001\u901f\u5ea6\u6307\u4ee4\u5024\u3092\u4e0e\u3048\u308b\u308f\u304b\u308a\u3084\u3059\u3044\u30b5\u30f3\u30d7\u30eb\u304c\u306a\u304b\u3063\u305f\u305f\u3081\u3001\u3053\u3061\u3089\u3082\u4f5c\u6210\u3057\u307e\u3057\u305f\u306e\u3067\u3001\u3088\u308d\u3057\u3051\u308c\u3070\u4e0b\u8a18\u8a18\u4e8b\u3082\u3054\u53c2\u7167\u304f\u3060\u3055\u3044\uff1a<\/p>\n<p><a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/unitree-go_cmd_vel_control.html\">\u3010Unitree Go2\u3011\u30ad\u30fc\u30dc\u30fc\u30c9\u304b\u3089Go2\u3092\u64cd\u4f5c\u3059\u308b\uff12\u6b21\u958b\u767a\u65b9\u6cd5<\/a><\/p>\n<h5>3-\u304a\u307e\u3051. humble\u74b0\u5883\u3067\u884c\u3046\u5834\u5408<\/h5>\n<p>humble\u74b0\u5883\u3067\u884c\u3046\u5834\u5408\u306f\u3001rmw_cyclonedds(branch:humble)\u3092\u540c\u3058\u3088\u3046\u306a\u624b\u9806\u3067\u30b3\u30f3\u30d1\u30a4\u30eb\u3059\u308b\u3068\u30a8\u30e9\u30fc\u304c\u767a\u751f\u3057\u307e\u3059\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/01\/go2_humble_rmw_error.png\" alt=\"\" width=\"60%\" \/><\/p>\n<p>\u305f\u3060rmw\u306b\u3064\u3044\u3066\u306fapt\u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u53ef\u80fd\u306a\u306e\u3067\u3001\u4e0b\u8a18\u306e\u3088\u3046\u306bhumble\u306ermw\u3092\u5165\u308c\u3066\u3042\u308c\u3070\u3001rmw\u3092\u30b3\u30f3\u30d1\u30a4\u30eb\u305b\u305a\u306b\u9032\u3081\u3066\u540c\u3058\u3088\u3046\u306b\u884c\u3046\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<br \/>\n\uff08\u53c2\u8003\uff1a<a href=\"https:\/\/docs.ros.org\/en\/humble\/Installation\/DDS-Implementations\/Working-with-Eclipse-CycloneDDS.html\">Eclipse Cyclone DDS \/ humble<\/a>\u3001<a href=\"https:\/\/docs.ros.org\/en\/foxy\/Installation\/DDS-Implementations\/Working-with-Eclipse-CycloneDDS.html\">Eclipse Cyclone DDS \/ foxy<\/a>\uff09<\/p>\n<pre class=\"prism lang-plain\"><code>$ sudo apt install ros-humble-rmw-cyclonedds-cpp\r\n$ sudo apt install ros-humble-rosidl-generator-dds-idl\r\n$ cd cyclonedds_ws\r\n$ colcon build<\/code><\/pre>\n<p>\u203bunitree_go, unitree_api\u306e\u30b3\u30f3\u30d1\u30a4\u30eb\u306f\u5fc5\u9808<br \/>\n\u203bunitree_ros2_setup.sh\u306b\u3064\u3044\u3066\u306f\u3001export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp\u306f\u5fc5\u9808<\/p>\n<p>\u203b24\/6\/7\u8ffd\u8a18<br \/>\nhumble\u3067\u4f7f\u3046\u5834\u5408\u306f\u3001apt\u3067\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306e\u307f\u3067\u3088\u3044\u3002setup.sh\u3092\u4e0b\u8a18\u306e\u3088\u3046\u306b\u4fee\u6b63\u3059\u308b\u3002\u57fa\u672c\u7684\u306b\u306fexport RMW\u4ee5\u4e0b\u306e\u884c\u3092\u5b9f\u884c\u3059\u308c\u3070\u3088\u3044\u3002\u4f8b\u3048\u3070\u4e0b\u8a18\u3002\u306a\u304a\u3001NetworkInterface\u306f\u305d\u306ePC\u306e\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30a4\u30b9\u306b\u5408\u308f\u305b\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>#!\/bin\/bash\r\necho \"Setup unitree ros2 environment\"\r\nsource \/opt\/ros\/humble\/setup.bash\r\n#source $HOME\/unitree_ros2\/cyclonedds_ws\/install\/setup.bash\r\nexport RMW_IMPLEMENTATION=rmw_cyclonedds_cpp\r\nexport CYCLONEDDS_URI='&lt;CycloneDDS&gt;&lt;Domain&gt;&lt;General&gt;&lt;Interfaces&gt;\r\n                            &lt;NetworkInterface name=\"enp3s0\" priority=\"default\" multicast=\"default\" \/&gt;\r\n                        &lt;\/Interfaces&gt;&lt;\/General&gt;&lt;\/Domain&gt;&lt;\/CycloneDDS&gt;'<\/code><\/pre>\n<\/div>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/01\/go2_humble_topic_list.png\" alt=\"\" width=\"60%\" \/><\/p>\n<p>\u307e\u305fexample\u306b\u79fb\u52d5\u3057\u3066colcon build\u3059\u308c\u3070\u3001\u3053\u3061\u3089\u306e\u30b5\u30f3\u30d7\u30eb\u3082\u554f\u984c\u306a\u304f\u4f7f\u3048\u307e\u3059\u3002<\/p>\n<h5>3-\u304a\u307e\u30512. ros2 run\u3067\u8d77\u52d5\u3057\u305f\u3044\u5834\u5408<\/h5>\n<p>\u901a\u5e38\u306eros2\u306e\u30ce\u30fc\u30c9\u3092\u8d77\u52d5\u3059\u308b\u3088\u3046\u306b\u3001ros2 run\u30b3\u30de\u30f3\u30c9\u3092\u4f7f\u7528\u3057\u305f\u3044\u5834\u5408\u306fCMakeLists.txt\u306einstall\u306e\u4e2d\u306eDESTINATION\u306e\u5f8c\u306e\u90e8\u5206\u3092\u8ffd\u8a18\u3057\u3001\u30b3\u30f3\u30d1\u30a4\u30eb\u3059\u308b\u3053\u3068\u3067\u884c\u3046\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>install(TARGETS \r\n  low_level_ctrl\r\n  read_low_state\r\n  read_motion_state\r\n  read_wireless_controller\r\n  sport_mode_ctrl\r\n  DESTINATION lib\/${PROJECT_NAME})<\/code><\/pre>\n<\/div>\n<p>&nbsp;<\/p>\n<h3>\u304a\u308f\u308a\u306b<\/h3>\n<p>Go2\u306eSDK\/ROS\u306e\u5916\u90e8PC\u306b\u304a\u3051\u308b\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u65b9\u6cd5\u3092\u898b\u3066\u304d\u307e\u3057\u305f\u3002<br \/>\nGo\uff11\u306e\u6642\u306b\u6bd4\u3079\u3001\u30e1\u30fc\u30ab\u30fc\u306e\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u304c\u3057\u3063\u304b\u308a\u66f8\u304b\u308c\u3066\u3044\u308b\u305f\u3081\u3001\u57fa\u672c\u7684\u306b\u306fREADME\u3092\u898b\u306a\u304c\u3089\u9032\u3081\u3066\u9802\u3051\u308c\u3070\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u3067\u304d\u308b\u304b\u3068\u601d\u3044\u307e\u3059\u3002<br \/>\n\u3053\u306e\u8a18\u4e8b\u304c\u5c11\u3057\u3067\u3082\u5f79\u306b\u7acb\u3066\u305f\u306e\u306a\u3089\u5e78\u3044\u3067\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u521d\u3081\u306b \u672c\u8a18\u4e8b\u3067\u306f\u3001\u30e6\u30fc\u30b6\u30fc\u5074\u3067\u7528\u610f\u3057\u305f\u5916\u90e8PC\u3092\u7528\u3044\u3066\u3001SDK(unitree_sdk2)\u3084ROS(unitree_ros2)\u3092\u52d5\u304b\u3059\u65b9\u6cd5\u306b\u3064\u3044\u3066\u3054\u6848\u5185\u3057\u307e\u3059\u3002 \u203b\u6700\u7d42\u66f4\u65b0\u65e5\uff1a25\/07\/24 \u203b\u4e0a\u8a18\u6700\u7d42\u66f4\u65b0\u65e5\u3067\u306e\u60c5\u5831 &hellip;<\/p>\n","protected":false},"author":15,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[72,26],"tags":[],"class_list":["post-345321","post","type-post","status-publish","format-standard","hentry","category-go2","category-unitree"],"_links":{"self":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345321","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/users\/15"}],"replies":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/comments?post=345321"}],"version-history":[{"count":54,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345321\/revisions"}],"predecessor-version":[{"id":347335,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345321\/revisions\/347335"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=345321"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=345321"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=345321"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}