{"id":345465,"date":"2024-03-07T10:32:39","date_gmt":"2024-03-07T01:32:39","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=345465"},"modified":"2025-07-22T16:39:00","modified_gmt":"2025-07-22T07:39:00","slug":"go2_demo_secondary_development","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/go2_demo_secondary_development.html","title":{"rendered":"\u3010Unitree Go2\u3011Go2\u306e\uff12\u6b21\u958b\u767a\u30c7\u30e2\u3092\u4f5c\u3063\u3066\u307f\u305f\uff08\u30de\u30fc\u30ab\u30fc\u691c\u77e5\uff09"},"content":{"rendered":"<h3>\u521d\u3081\u306b<\/h3>\n<hr \/>\n<p>\u672c\u8a18\u4e8b\u3067\u306f\u3001Go2\u3092\u7528\u3044\u3066\uff12\u6b21\u958b\u767a\u3092\u884c\u3063\u3066\u307f\u308b\u3068\u3044\u3046\u5185\u5bb9\u306b\u306a\u308a\u307e\u3059\u3002<br \/>\n\u5177\u4f53\u7684\u306b\u306f\u3001ROS2\u3068apriltag\u3092\u7528\u3044\u3066\u3001\u7279\u5b9a\u306e\u30de\u30fc\u30ab\u30fc\u3092\u898b\u3064\u3051\u305f\u3089Go2\u304c\u52d5\u304f\u3068\u3044\u3046\u3088\u3046\u306a\u7c21\u6613\u30c7\u30e2\u3092\u4f5c\u6210\u3057\u3066\u307f\u307e\u3059\u3002<\/p>\n<p>\u203b\u30cf\u30f3\u30ba\u30aa\u30f3\u30bb\u30df\u30ca\u30fc\u7528<br \/>\n<a href=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/05\/9ffcf570c4472fe446175a21af86af14.pdf\">\u30bb\u30df\u30ca\u30fcPDF<\/a><br \/>\n<a href=\"https:\/\/github.com\/TechShare-inc\/go2_demo_kit\">\u8a18\u4e8b\u306e\u5185\u5bb9\u3092\u3072\u3068\u307e\u3068\u3081\u306b\u3057\u305fgithub<\/a><\/p>\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 Staion\uff1aubuntu20 \/ ROS2 foxy (Orin Nano\/NX\u3001\u3069\u3061\u3089\u3067\u3082\u53ef\u3002\u5916\u90e8PC\u3067\u3082\u53ef)<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>\uff11\uff0eGo2\u5185\u90e8\u642d\u8f09\u306e\u30ab\u30e1\u30e9\u3092\u7528\u3044\u3066apriltag\u306e\u691c\u51fa\u3092\u884c\u3046<\/h3>\n<hr \/>\n<h5>1-1. gstreamer\u3092\u7528\u3044\u305f\u753b\u50cf\u53d6\u5f97<\/h5>\n<p>\u307e\u305agstreamer\u3092\u7528\u3044\u308b\u3053\u3068\u3067\u753b\u50cf\u53d6\u5f97\u3092\u884c\u3063\u3066\u307f\u307e\u3059\u3002<\/p>\n<p>\u3053\u308c\u3092\u884c\u3046\u305f\u3081\u306b\u3001DockingStation\u306eGUI\u3092NoMachine\u3092\u7528\u3044\u3066\u8868\u793a\u3067\u304d\u308b\u74b0\u5883\u3092\u7528\u610f\u3057\u307e\u3059\u3002<br \/>\n\uff08\u53c2\u7167\uff1a<a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/go2_nomachine.html\">\u3010Unitree Go2\u3011NoMachine\u3067Docking Station\u306eGUI\u3092\u4f7f\u3046<\/a>\uff09<\/p>\n<p>\u305d\u3057\u3066\u3001<a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/Multimedia_Services\">\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8<\/a>\u306e\u3088\u3046\u306b\u3001gstreamer\u3092\u7528\u3044\u308b\u3053\u3068\u3067\u753b\u50cf\u53d6\u5f97\u3092\u884c\u3046\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n<pre class=\"prism lang-plain\"><code>$ gst-launch-1.0 udpsrc address=230.1.1.1 port=1720 multicast-iface=eth0 ! queue !  application\/x-rtp, media=video, encoding-name=H264 ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! autovideosink<\/code><\/pre>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/go2_gst_nomachine.png\" alt=\"gstreamer\u3092\u7528\u3044\u305f\u30b7\u30f3\u30d7\u30eb\u306a\u753b\u50cf\u53d6\u5f97\u3068\u8868\u793a\" width=\"100%\" \/><br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/go2_pic_tag.jpg\" alt=\"Go2\u306e\u72b6\u614b\" width=\"60%\" \/><\/p>\n<h5>1-1-\u88dc\u8db3. ROS2\u306b\u3088\u308b\u30ab\u30e1\u30e9\u753b\u50cf\u53d6\u5f97\u306b\u3064\u3044\u3066<\/h5>\n<p>\u30ab\u30e1\u30e9\u753b\u50cf\u306e\u53d6\u5f97\u3092ROS2\u30c8\u30d4\u30c3\u30af\u3067\u884c\u3046\u3053\u3068\u306f\u3001\u76f4\u63a5\u306f\u30b5\u30dd\u30fc\u30c8\u3055\u308c\u3066\u3044\u307e\u305b\u3093\u3002<br \/>\n\u4f8b\u3048\u3070\u3001\u4e0b\u8a18\u306e\u3088\u3046\u306a\u3082\u306e\u3092\u7528\u3044\u3066\u3001GST\u304b\u3089topic\u306b\u5909\u63db\u3057\u3066\u304f\u3060\u3055\u3044\u3002<br \/>\n<a href=\"https:\/\/github.com\/TechShare-inc\/go2_demo_kit\/blob\/main\/1.1\/image_publisher.py\">\u753b\u50cf\u3092\u30c8\u30d4\u30c3\u30af\u3067\u914d\u4fe1\u3059\u308b\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9<\/a><\/p>\n<h5>1-2. apritlag\u3092\u7528\u3044\u305f\u30de\u30fc\u30ab\u30fc\u691c\u51fa<\/h5>\n<p>\u6b21\u306bapriltag\u3092\u7528\u3044\u3066\u30de\u30fc\u30ab\u30fc\u691c\u51fa\u3092\u884c\u3044\u307e\u3059\u3002<br \/>\n<a href=\"https:\/\/github.com\/AprilRobotics\/apriltag.git\">apriltag<\/a>\u3068\u306f\u30de\u30fc\u30ab\u30fc\u691c\u51fa\u306e\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u3067\u3059\u3002<\/p>\n<p>\u9069\u5f53\u306a\u5834\u6240\u306bapriltag\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3001\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002<\/p>\n<pre class=\"prism lang-plain\"><code>$ git clone https:\/\/github.com\/AprilRobotics\/apriltag.git\r\n$ cd apriltag\r\n$ mkdir build\r\n$ cd build\r\n$ cmake ..\r\n$ make\r\n$ sudo make install<\/code><\/pre>\n<p>\u305d\u306e\u5f8c\u3001\u9069\u5f53\u306a\u5834\u6240\u306b<a href=\"https:\/\/github.com\/TechShare-inc\/simple_apriltag\">\u5f0a\u793e\u3067\u4f5c\u6210\u3057\u305fapriltag\u691c\u51fa\u306ec++\u30d7\u30ed\u30b0\u30e9\u30e0<\/a>\u3082\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3001\u30b3\u30f3\u30d1\u30a4\u30eb\u3057\u307e\u3059\u3002<\/p>\n<pre class=\"prism lang-plain\"><code>$ git clone https:\/\/github.com\/TechShare-inc\/simple_apriltag\r\n$ cd simple_apriltag\r\n$ mkdir build\r\n$ cd build\r\n$ cmake ..\r\n$ make<\/code><\/pre>\n<p>\u6700\u5f8c\u306b\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n<pre class=\"prism lang-plain\"><code>$ .\/example_detect_gst<\/code><\/pre>\n<p>apriltag(36h11)\u306e\u5370\u5237\u3092\u884c\u3044\u3001\u30ab\u30e1\u30e9\u306b\u6620\u308b\u3088\u3046\u306b\u3059\u308b\u3068\u4e0b\u8a18\u753b\u50cf\u306e\u3088\u3046\u306b\u691c\u51fa\u3057\u3066\u304f\u308c\u308b\u306f\u305a\u3067\u3059\u3002<br \/>\n\u3053\u306e\u5f8c\u3067id:303\u756a(36h11)\u306eapriltag\u3092\u4f7f\u7528\u3057\u307e\u3059\u306e\u3067\u3001303\u756a\u3060\u3051\u306f\u5370\u5237\u3057\u3066\u304a\u3044\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/go2_detect_apriltag.png\" alt=\"\u30de\u30fc\u30ab\u30fc\u691c\u51fa\" width=\"100%\" \/><\/p>\n<p>\u3053\u308c\u3067apriltag\u306e\u691c\u51fa\u306f\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3057\u305f\u304c\u3001\u4eca\u56de\u306fROS2\u3092\u7528\u3044\u3066\u30c7\u30e2\u3092\u4f5c\u6210\u3059\u308b\u306e\u3067\u3001\u3053\u306e\u30b3\u30fc\u30c9\u3092ROS2\u306b\u3057\u307e\u3059\u3002<\/p>\n<h5>1-3. \u30de\u30fc\u30ab\u30fc\u691c\u51fa\u3092ROS2 service\u3067\u884c\u3046<\/h5>\n<p>\u9069\u5f53\u306a\u5834\u6240\u306bworkspace\u3092\u4f5c\u308a\u3001<a href=\"https:\/\/github.com\/TechShare-inc\/simple_apriltag\/tree\/foxy_service\">\u5f0a\u793e\u3067\u4f5c\u6210\u3057\u305fROS2 service\u578b\u306e\u30de\u30fc\u30ab\u30fc\u691c\u51fa\u30d7\u30ed\u30b0\u30e9\u30e0<\/a>\u3092\u7528\u3044\u3066\u3001\u30de\u30fc\u30ab\u30fc\u691c\u51fa\u3092\u884c\u3044\u307e\u3059\u3002<\/p>\n<pre class=\"prism lang-plain\"><code>$ mkdir detect_apriltag_ws\r\n$ cd detect_apriltag_ws\r\n$ mkdir src\r\n$ cd src\r\n$ git clone https:\/\/github.com\/TechShare-inc\/simple_apriltag -b foxy_service --recursive\r\n$ cd ..\r\n$ colcon build<\/code><\/pre>\n<p>\u203bdetect_apriltag_ws\u306e\u540d\u524d\u306f\u4efb\u610f<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/go2_colcon_build_tag.png\" alt=\"\" width=\"100%\" \/><\/p>\n<p>colcon build\u3068\u3044\u3046\u306e\u304cROS2\u306b\u304a\u3051\u308bbuild\u30b7\u30b9\u30c6\u30e0\u3067\u3042\u308a\u3001\u3053\u308c\u306b\u3088\u308ac++\u30b3\u30fc\u30c9\u3092\u30b3\u30f3\u30d1\u30a4\u30eb\u3057\u307e\u3059\u3002<\/p>\n<p>\u4eca\u56de\u306e\u5b9f\u88c5\u3067\u306f\u3001service\u3068\u3044\u3046\u30bf\u30a4\u30d7\u306e\u5b9f\u88c5\u3067\u3059\u3002<br \/>\nserver\u306f\u3001client\u5074\u304b\u3089\u30ea\u30af\u30a8\u30b9\u30c8\u3092\u53d7\u3051\u308b\u3068\u691c\u51fa\u3092\u884c\u3044\u3001client\u5074\u306bresponse\u3092\u8fd4\u3059\u3068\u3044\u3046\u69cb\u9020\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>\u306a\u304a\u3001unitree_ros2\u3067\u69cb\u7bc9\u3057\u305funitree_ros2_setup.sh\u3067\u74b0\u5883\u8a2d\u5b9a\u3092\u3057\u3066\u304a\u304b\u306a\u3044\u3068\u3046\u307e\u304f\u3044\u304b\u306a\u3044\u3053\u3068\u304c\u3042\u308b\u305f\u3081\u3001\u305d\u308c\u3092\u3057\u3066\u304b\u3089\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n<p>terminal 1: (service server)<\/p>\n<pre class=\"prism lang-plain\"><code>$ source \/path\/to\/unitree_ros2\/unitree_ros2_setup.sh\r\n$ source install\/setup.bash\r\n$ ros2 run apriltag_service service_server_gst<\/code><\/pre>\n<p>terminal 2: (service client)<\/p>\n<pre class=\"prism lang-plain\"><code>$ source \/path\/to\/unitree_ros2\/unitree_ros2_setup.sh\r\n$ source install\/setup.bash\r\n$ ros2 run apriltag_service service_client<\/code><\/pre>\n<p>\u203b\/path\/to\/unitree_ros2\/unitree_ros2_setup.sh\u306funitree_ros2\u306e\u5b9f\u969b\u306e\u30d1\u30b9\u306b\u5408\u308f\u305b\u308b<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/go2_service_server_client.png\" alt=\"\" width=\"100%\" \/><\/p>\n<p>&nbsp;<\/p>\n<h3>\uff12\uff0eGo2\u306e\uff12\u6b21\u958b\u767a\u30c7\u30e2<\/h3>\n<hr \/>\n<h5>2-1. \u904b\u52d5\u5236\u5fa1node\u3092\u4f5c\u6210\u3059\u308b<\/h5>\n<p>\u307e\u305a\u524d\u63d0\u3068\u3057\u3066\u3001unitree_ros2\u3092\u5c0e\u5165\u3067\u304d\u3066\u3044\u308b\u72b6\u614b\u306b\u3057\u307e\u3059\u3002<br \/>\n\uff08\u53c2\u7167\uff1a<a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/unitree-go2_pc_lan.html\">\u3010Unitree Go2\u3011SDK or ROS\u3092\u4f7f\u3046\u65b9\u6cd5<\/a>\uff09<\/p>\n<p>\u9069\u5f53\u306a\u5834\u6240\u306bworkspace\u3092\u4f5c\u308a\u3001<a href=\"https:\/\/github.com\/TechShare-inc\/go2_unitree_ros2\">\u5f0a\u793e\u3067\u4f5c\u6210\u3057\u305fGo2\u30c7\u30e2\u30d7\u30ed\u30b0\u30e9\u30e0<\/a>\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3001\u30b3\u30f3\u30d1\u30a4\u30eb\u3057\u307e\u3059\u3002<\/p>\n<pre class=\"prism lang-plain\"><code>$ mkdir go2_demo_ws\r\n$ cd go2_demo_ws\r\n$ mkdir src\r\n$ cd src\r\n$ git clone https:\/\/github.com\/TechShare-inc\/go2_unitree_ros2\r\n$ cd ..\r\n$ source \/path\/to\/unitree_ros2\/unitree_ros2_setup.sh\r\n$ source \/path\/to\/detect_apriltag_ws\/install\/setup.bash\r\n$ colcon build<\/code><\/pre>\n<p>\u203bgo2_demo_ws\u306e\u540d\u524d\u306f\u4efb\u610f<br \/>\n\u203b\/path\/to\/unitree_ros2\/unitree_ros2_setup.sh\u306funitree_ros2\u306e\u5b9f\u969b\u306e\u30d1\u30b9\u306b\u5408\u308f\u305b\u308b<br \/>\n\u203b\/path\/to\/detect_apriltag_ws\/install\/setup.bash\u306f\uff11\u3067\u4f5c\u6210\u3057\u305ftag\u691c\u51fa\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u5b9f\u969b\u306e\u30d1\u30b9\u306b\u5408\u308f\u305b\u308b<\/p>\n<h5>2-2. \u5b9f\u884c<\/h5>\n<p>terminal 1: (service server)<\/p>\n<pre class=\"prism lang-plain\"><code>$ source \/path\/to\/unitree_ros2\/unitree_ros2_setup.sh\r\n$ source install\/setup.bash\r\n$ ros2 run apriltag_service service_server_gst<\/code><\/pre>\n<p>terminal 2: (service client)<\/p>\n<pre class=\"prism lang-plain\"><code>$ source \/path\/to\/unitree_ros2\/unitree_ros2_setup.sh\r\n$ source install\/setup.bash\r\n$ ros2 run go2_demo tag_move_demo<\/code><\/pre>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/go2_demo_tag_terminal.png\" alt=\"\" width=\"100%\" \/><\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/go2_demo_tag_pic.jpg\" alt=\"\" width=\"60%\" \/><\/p>\n<p>id:303(36h11)\u306eapriltag\u3092\u898b\u3064\u3051\u308b\u3068180\u5ea6\u56de\u8ee2\u3059\u308b\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\u304a\u308f\u308a\u306b<\/h3>\n<p>Go2\u306e\uff12\u6b21\u958b\u767a\u30c7\u30e2\u3092\u5b9f\u969b\u306b\u4f5c\u308b\u65b9\u6cd5\u3092\u898b\u3066\u304d\u307e\u3057\u305f\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\u3001Go2\u3092\u7528\u3044\u3066\uff12\u6b21\u958b\u767a\u3092\u884c\u3063\u3066\u307f\u308b\u3068\u3044\u3046\u5185\u5bb9\u306b\u306a\u308a\u307e\u3059\u3002 \u5177\u4f53\u7684\u306b\u306f\u3001ROS2\u3068apriltag\u3092\u7528\u3044\u3066\u3001\u7279\u5b9a\u306e\u30de\u30fc\u30ab\u30fc\u3092\u898b\u3064\u3051\u305f\u3089Go2\u304c\u52d5\u304f\u3068\u3044\u3046\u3088\u3046\u306a\u7c21\u6613\u30c7\u30e2\u3092\u4f5c\u6210\u3057\u3066\u307f\u307e\u3059\u3002 \u203b\u30cf\u30f3\u30ba\u30aa\u30f3\u30bb\u30df 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