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jsk-ros-pkg / jsk_robot

jsk-ros-pkg/jsk_robot
https://github.com/jsk-ros-pkg/jsk_robot
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[Unitree] ROS Master not found in Go1 Air #1865

Open sktometometo opened 10 months ago

sktometometo commented 10 months ago

I have tried following steps to develop with Go1 Air based on https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_unitree_robot/README.md

  1. Connect to the robot via Ethernet

  2. Set your PC'S IP address to 192.168.96.162

  3. Setup ROS_IP and ROS_MASTER_URI

    rossetmaster 192.168.96.161
rossetip

I have added step like below, But there seems something wrong.

$ rossetip 192.168.96.162
$ rostopic list
ERROR: Unable to communicate with master!

and ping does not respond.

$ ip a
1: lo: <LOOPBACK,UP,LOWER_UP> mtu 65536 qdisc noqueue state UNKNOWN group default qlen 1000
    link/loopback 00:00:00:00:00:00 brd 00:00:00:00:00:00
    inet 127.0.0.1/8 scope host lo
       valid_lft forever preferred_lft forever
    inet6 ::1/128 scope host 
       valid_lft forever preferred_lft forever
2: enp0s31f6: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc fq_codel state UP group default qlen 1000
    link/ether 8c:8c:aa:32:87:db brd ff:ff:ff:ff:ff:ff
    inet 192.168.96.162/24 brd 192.168.96.255 scope global noprefixroute enp0s31f6
       valid_lft forever preferred_lft forever
    inet6 fe80::f6e7:3d9:9601:9f09/64 scope link noprefixroute 
       valid_lft forever preferred_lft forever
3: wlp0s20f3: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc noqueue state UP group default qlen 1000
    link/ether 18:cc:18:78:89:7b brd ff:ff:ff:ff:ff:ff
    inet 133.11.216.74/24 brd 133.11.216.255 scope global dynamic noprefixroute wlp0s20f3
       valid_lft 662sec preferred_lft 662sec
    inet6 fe80::7b84:1d5a:c320:766c/64 scope link noprefixroute 
       valid_lft forever preferred_lft forever
4: vpn_vnic: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc fq_codel state UNKNOWN group default qlen 1000
    link/ether 5e:db:79:5b:e2:bf brd ff:ff:ff:ff:ff:ff
    inet6 fe80::5cdb:79ff:fe5b:e2bf/64 scope link 
       valid_lft forever preferred_lft forever
5: docker0: <NO-CARRIER,BROADCAST,MULTICAST,UP> mtu 1500 qdisc noqueue state DOWN group default 
    link/ether 02:42:df:f3:21:31 brd ff:ff:ff:ff:ff:ff
    inet 172.17.0.1/16 brd 172.17.255.255 scope global docker0
       valid_lft forever preferred_lft forever
$ ping 192.168.96.161 -I enp0s31f6
PING 192.168.96.161 (192.168.96.161) 送信元 192.168.96.162 enp0s31f6: 56(84) バイトのデータ
送信元 192.168.96.162 icmp_seq=1 目的のホストへ届きません。
送信元 192.168.96.162 icmp_seq=2 目的のホストへ届きません。
送信元 192.168.96.162 icmp_seq=3 目的のホストへ届きません。

What is wrong?

sktometometo commented 10 months ago

Acoording to this document , Laptop Network Configuration should be like

And rossetmaster uri should be 192.168.123.161

Is there any robot where internal network is 192.168.96.x?

@tkmtnt7000 @k-okada @iory

sktometometo commented 10 months ago

Update https://github.com/jsk-ros-pkg/jsk_robot/pull/1861 to fix this problem.