Go2 Fetch

https://grasp-lyrl.github.io/go2fetch/

Installation

# setup python environment
git clone https://github.com/grasp-lyrl/go2fetch.git
cd go2fetch

# create python environment
python3.10 -m venv .venv
source .venv/bin/activate

# install dependencies
python -m pip install --upgrade pip setuptools wheel
pip install -r requirements.txt

# install native video tools
sudo apt update
sudo apt install -y \
  gstreamer1.0-tools \
  gstreamer1.0-plugins-good \
  gstreamer1.0-plugins-bad \
  gstreamer1.0-plugins-ugly \
  gstreamer1.0-libav

Usage Example

Find the network interface connected to the Go2:

ip -br link

Read state:

# read state
python -m examples.read_state enp129s0

# stream camera snapshots to Rerun
python -m examples.read_camera enp129s0

Send commands:

# stop motion
python -m examples.send_command enp129s0 stop

# move forward for 5 seconds: vx vy vyaw
python -m examples.send_command enp129s0 move 0.10 0.0 0.0 --t 5.0

# rotate for 2 seconds
python -m examples.send_command enp129s0 move 0.0 0.0 0.25 --t 2.0

Replace enp129s0 with your Go2 network interface.

Rerun Recording & Visualization

We save recordings in logs/ by default.

logs/name.rrd = state + lidar

logs/name.mp4 = camera video

# record data
python ./scripts/record.py enp129s0 --out logs/go2fetch.rrd

# visualize a recorded bag
rerun logs/go2fetch.rrd

# visualize data live
python ./scripts/record.py enp129s0 --live

# visualize live and record concurrently
python ./scripts/record.py enp129s0 --live --out logs/go2fetch.rrd

Replace enp129s0 with your Go2 network interface.