This guide provides step-by-step instructions to set up Unitree SDK and ROS2 Humble on your system for controlling the Unitree GO2 robot. The instructions are tailored to be beginner-friendly and appropriate for undergraduate students.

1. Download Unitree SDK

Download the Unitree SDK from the official GitHub repository:

mkdir -p ~/Documents/unitree_sdks
cd ~/Documents/unitree_sdks
git clone <https://github.com/unitreerobotics/unitree_sdk2>

2. Install Unitree SDK

Navigate to the downloaded SDK directory and build the package:

cd unitree_sdk2
mkdir build
cd build
cmake ..
sudo make install

3. Network Configuration

Connect your computer to the Go2 via ethernet cable. Make sure your computer’s IP address is within the range 192.168.123.XXX (for example, 192.168.123.99).

You can check and configure your IP address through network settings or by running:

ifconfig

Ensure your interface (e.g., Ethernet) has the correct IP configuration.

4. Install ROS2 Humble

Follow the official ROS2 Humble installation instructions:

ROS2 Humble Installation Guide for Ubuntu