Unitree A1 can be connected using both wireless and wired methods:

• Wireless: Connect to the Unitree starting with WIFI broadcasted by the robot (Note: Wireless connection may lead to packet loss, disconnection, or even loss of control, please ensure safety)
• Wired: Use an Ethernet cable to connect any port on the computer and the robot, configure the computer IP as 192.168.123.162, and the netmask as 255.255.255.0

Open a new terminal and start the control program

# ROS1
source devel/setup.bash
rosrun rl_sar rl_real_a1

# ROS2
source install/setup.bash
ros2 run rl_sar rl_real_a1

# CMake
./cmake_build/bin/rl_real_a1

Connect one end of the Ethernet cable to the Go2/Go2W/G1(29dofs) robot and the other end to your computer. Then, enable USB Ethernet on the computer and configure it. The IP address of the onboard computer on the Go2 robot is 192.168.123.161, so the computer's USB Ethernet address should be set to the same network segment as the robot. For example, enter 192.168.123.222 in the "Address" field (you can replace 222 with another number).

Use the ifconfig command to find the name of the network interface for the 123 network segment, such as enxf8e43b808e06. In the following steps, replace <YOUR_NETWORK_INTERFACE> with the actual network interface name.

Go2:

Open a new terminal and start the control program. If you are controlling Go2W, you need to add wheel after the command, otherwise leave it blank.

# ROS1
source devel/setup.bash
rosrun rl_sar rl_real_go2 <YOUR_NETWORK_INTERFACE> [wheel]

# ROS2
source install/setup.bash
ros2 run rl_sar rl_real_go2 <YOUR_NETWORK_INTERFACE> [wheel]

# CMake
./cmake_build/bin/rl_real_go2 <YOUR_NETWORK_INTERFACE> [wheel]

G1(29dofs):

Turn on the robot and lift it up, press L2+R2 to enter the debugging mode, then open a new terminal and start the control program.

# ROS1
source devel/setup.bash
rosrun rl_sar rl_real_g1 <YOUR_NETWORK_INTERFACE>

# ROS2
source install/setup.bash
ros2 run rl_sar rl_real_g1 <YOUR_NETWORK_INTERFACE>

# CMake
./cmake_build/bin/rl_real_g1 <YOUR_NETWORK_INTERFACE>

Connect your computer to the robot using the Ethernet cable and log into the Jetson onboard computer. The default password is 123:

ssh [email protected]

Connect the phone to the USB of the robot, enable USB network sharing on the phone, pull the code and compile it using ./build.sh -m. After successful compilation, run:

# Go2:
./cmake_build/bin/rl_real_go2 <YOUR_NETWORK_INTERFACE> [wheel]

# G1(29dofs):
./cmake_build/bin/rl_real_g1 <YOUR_NETWORK_INTERFACE>

Then you can unplug the phone and network cable, and control the robot using the remote controller.

If you need to set up auto-start on boot, you can follow this process:

Create a service file

sudo touch /etc/systemd/system/rl_sar.service

Write the following content, assuming the rl_sar project is in the ~/rl_sar directory

[Unit]
Description=RL SAR Service
After=network.target

[Service]
Type=simple
User=unitree
WorkingDirectory=/home/unitree/rl_sar
ExecStart=/home/unitree/rl_sar/cmake_build/bin/rl_real_go2 eth0 wheel
Restart=on-failure
RestartSec=5
StandardOutput=journal
StandardError=journal

[Install]
WantedBy=multi-user.target

Reload the systemd configuration:

sudo systemctl daemon-reload

Enable auto-start on boot:

sudo systemctl enable rl_sar.service

Disable auto-start on boot:

sudo systemctl disable rl_sar.service

Start the service:

sudo systemctl start rl_sar.service

Stop the service:

sudo systemctl stop rl_sar.service

Restart the service:

sudo systemctl restart rl_sar.service

View service logs:

sudo journalctl -u rl_sar.service -f

After reboot, the robot will first run the built-in standing program. After the rl_sar service starts, it will automatically dampen down, and then can be controlled normally using the remote controller.

Deeprobotics Lite3 can be connected using wireless method. (Wired not tested. For some versions of Lite3, the wired Ethernet port may requires additional installation.)

• Connect to the Lite3 starting with WIFI broadcasted by the robot. We strongly recommand testing the communication the Lite3 using Lite3_Motion_SDK before use. (Note: Wireless connection may lead to packet loss, disconnection, or even loss of control, please ensure safety)

• Determine the IP address and port number of Lite3, and modify line 46-48 in rl_sar/src/rl_real_lite3.cpp.

• Then Update jy_exe/conf/network.toml on the Lite3 motion host to set the IP and port to that of the local machine running ROS2, enabling communication.

[!CAUTION] Recheck joint mapping parameters!
Recheck rl_sar/policy/himloco/config.yaml. The default joint mapping in Sim2Sim configuration differs from that used in real. If not updated accordingly, this mismatch may lead to incorrect robot behavior and potential safety hazards

Lite3 also support control using Deeprobotics Retroid gamepad, refer to Deeprobotics Gamepad

Open a new terminal and start the control program

# ROS1
source devel/setup.bash
rosrun rl_sar rl_real_lite3

# ROS2
source install/setup.bash
ros2 run rl_sar rl_real_lite3

# CMake
./cmake_build/bin/rl_real_lite3