Merge pull request #79 from abizovnuralem/firmware_1_1_1_update

Firmware 1 1 1 update

README.md

@@ -9,9 +9,6 @@
 ![ROS2 Build](https://github.com/abizovnuralem/go2_ros2_sdk/actions/workflows/ros_build.yaml/badge.svg)
 [![License](https://img.shields.io/badge/license-BSD--2-yellow.svg)](https://opensource.org/licenses/BSD-2-Clause)
 
-> [!IMPORTANT]  
-> The new firmware update, that comes from September 2024, has a different connection method with the app. Refer to https://github.com/abizovnuralem/go2_ros2_sdk/issues/74, Currenly this SDK only supports CycloneDDS. In order to use WebRTC you need to roll back to the previous 1.0.25 firmware.
-
 
 We are happy to present you our integration of the Unitree Go2 with ROS2 over Wi-Fi, that was designed by the talented [@tfoldi](https://github.com/tfoldi). You can explore his groundbreaking work at [go2-webrtc](https://github.com/tfoldi/go2-webrtc).
 
@@ -28,7 +25,7 @@ If you are using WebRTC (Wi-Fi) protocol, close the connection with a mobile app
 6. Go2 topics info in real time :white_check_mark: 
 7. Foot force sensors info in real time :white_check_mark: 
 8. Lidar stream (added pointCloud2) :white_check_mark: 
-9. Camera stream :white_check_mark:
+9. Camera stream (Currently is not working with a new Firmware update)
 10. Foxglove bridge :white_check_mark:
 11. Laser Scan :white_check_mark:
 12. Multi robot support :white_check_mark:
@@ -86,7 +83,8 @@ cd ros2_ws
 git clone --recurse-submodules https://github.com/abizovnuralem/go2_ros2_sdk.git src
 sudo apt install ros-$ROS_DISTRO-image-tools
 sudo apt install ros-$ROS_DISTRO-vision-msgs
-sudo apt install python3-pip clang
+
+sudo apt install python3-pip clang portaudio19-dev
 cd src
 pip install -r requirements.txt
 cd ..
@@ -310,7 +308,15 @@ If you are running ROS2 under WSL2 - you may need to configure Joystick\Gamepad
 
 ## Thanks
 
-Special thanks to @tfoldi, @legion1581, @budavariam, @alex.lin and TheRoboVerse community!
+Special thanks to:
+1. @tfoldi (Tamas) for his idea and talent to create a webrtc connection method between python and unitree GO2;
+2. @budavariam for helping with lidar issues;
+3. @legion1581 for a new webrtc method, that is working with 1.1.1 firmware update;
+4. @alex.lin for his passion in ros1 ingration;
+5. @alansrobotlab for his passion in robotics and helping me to debug new webrtc method;
+6. @giangalv (Gianluca Galvagn) for helping me debug new issues with webrtc;
+7. Many many other open source contributors! and TheRoboVerse community!
+
 
 ## License
 

go2_robot_sdk/go2_robot_sdk/go2_driver_node.py

@@ -481,6 +481,7 @@ async def run(self, conn, robot_num):
 
         if self.conn_type == 'webrtc':
             await self.conn[robot_num].connect()
+            # await self.conn[robot_num].data_channel.disableTrafficSaving(True)
 
         while True:
             self.joy_cmd(robot_num)

go2_robot_sdk/launch/robot.launch.py

@@ -119,14 +119,14 @@ def generate_launch_description():
                 arguments=[urdf]
             ),
         )
-        urdf_launch_nodes.append(
-            Node(
-                package='ros2_go2_video',
-                executable='ros2_go2_video',
-                parameters=[{'robot_ip': robot_ip_lst[0],
-                             'robot_token': robot_token}],
-            ),
-        )
+        # urdf_launch_nodes.append(
+        #     Node(
+        #         package='ros2_go2_video',
+        #         executable='ros2_go2_video',
+        #         parameters=[{'robot_ip': robot_ip_lst[0],
+        #                      'robot_token': robot_token}],
+        #     ),
+        # )
         urdf_launch_nodes.append(
             Node(
                 package='pointcloud_to_laserscan',
@@ -159,14 +159,14 @@ def generate_launch_description():
                     arguments=[urdf]
                 ),
             )
-            urdf_launch_nodes.append(
-                Node(
-                    package='ros2_go2_video',
-                    executable='ros2_go2_video',
-                    parameters=[{'robot_ip': robot_ip_lst[i],
-                                 'robot_token': robot_token}],
-                ),
-            )
+            # urdf_launch_nodes.append(
+            #     Node(
+            #         package='ros2_go2_video',
+            #         executable='ros2_go2_video',
+            #         parameters=[{'robot_ip': robot_ip_lst[i],
+            #                      'robot_token': robot_token}],
+            #     ),
+            # )
             urdf_launch_nodes.append(
                 Node(
                     package='pointcloud_to_laserscan',

go2_robot_sdk/scripts/go2_constants.py

@@ -1,3 +1,30 @@
+# Copyright (c) 2024, RoboVerse community
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice, this
+#    list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+#    this list of conditions and the following disclaimer in the documentation
+#    and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+# A NEW WEB_RTC_COMM WAS ORIGINALY FORKED from https://github.com/legion1581/go2_webrtc_connect
+# Big thanks for your passion! @legion1581 (The RoboVerse Discord Group)
+
+
 ROBOT_CMD = {
     "Damp": 1001,
     "BalanceStand": 1002,