go2-webrtc-connect 0.1.0

Connect to the Unitree Go2 with WebRTC

Full Unitree Go2 WebRTC Driver

This repository contains a Python implementation of the WebRTC driver to connect to the Unitree Go2 Robot.

• High level control of the dog through WebRTC (like the Unitree Go app)
• No jailbreak or firmware manipulation required.
• Compatible with Go2 AIR/PRO/EDU models.

Installation

1. Clone this repository.

git clone --recurse-submodules https://github.com/legion1581/go2_webrtc_connect.git
cd go2_webrtc_connect

2. We use uv to manage python dependencies. Make sure it's installed.

# On macOS and Linux.
curl -LsSf https://astral.sh/uv/install.sh | sh

3. Turn on the Go2. Get the IP of your Go2 using the Unitree Go2 app. Then, close the app and disconnect from your dog. Change the scripts to put your Go2 IP address.

Then, run scripts using uv.

uv run examples/data_channel/lowstate/lowstate.py

Supported Firmware Versions

The currently supported Go2 firmware packages are:

• 1.1.1 - 1.1.4 (latest available)
• 1.0.19 - 1.0.25

Use the Unitree Go2 app to check your firmware version.

Audio Support

There is an audio (sendrecv) channel in WebRTC that you can connect to.

This is supported only on Go2 Pro and Edu. Check out the examples in the /examples/audio folder.

1. Install portaudio19-dev.

# On Linux
sudo apt update && sudo apt install portaudio19-dev

# On MacOS
brew update && brew install portaudio19-dev

2. Use the audio optional dependencies

uv run --extra audio  examples/audio/mp3_player/play_mp3.py

Video Support

There is video (recvonly) channel in WebRTC. Use the video optional dependencies for this.

uv run --extra audio  examples/audio/mp3_player/play_mp3.py

Lidar support

There is a lidar decoder built in, so you can handle decoded PoinClouds directly. Check out the examples in the /examples/data_channel/lidar folder.

Connection Methods

The driver supports three types of connection methods:

1. AP Mode: Go2 is in AP mode, and the WebRTC client is connected directly to it:

   Go2WebRTCConnection(WebRTCConnectionMethod.LocalAP)
   

2. STA-L Mode: Go2 and the WebRTC client are on the same local network. An IP or Serial number is required:

   Go2WebRTCConnection(WebRTCConnectionMethod.LocalSTA, ip="192.168.8.181")
   

   If the IP is unknown, you can specify only the serial number, and the driver will try to find the IP using the special Multicast discovery feature available on Go2:

   Go2WebRTCConnection(WebRTCConnectionMethod.LocalSTA, serialNumber="B42D2000XXXXXXXX")
   

3. STA-T mode: Remote connection through remote Unitrees TURN server. Could control your Go2 even being on the diffrent network. Requires username and pass from Unitree account

   Go2WebRTCConnection(WebRTCConnectionMethod.Remote, serialNumber="B42D2000XXXXXXXX", username="[e-mail]", password="pass")
   

Multicast scanner

The driver has a built-in Multicast scanner to find the Unitree Go2 on the local network and connect using only the serial number.

Usage

Example programs are located in the /examples directory.

Thanks

A big thank you to TheRoboVerse community! Visit us at TheRoboVerse for more information and support.

Special thanks to the tfoldi WebRTC project and abizovnuralem for adding LiDAR support and MrRobotow for providing a plot LiDAR example.

Support

If you like this project, please consider buying the author a coffee: