Quick Setup
> Stage 4: VR Device Deployment and Instructions (PICO4)
Deploying the Physical-Robot Teleoperation Software#
This chapter explains how to set up the Docker environment and install the required dependencies.
Note: If you are not using the GO2, configure the following environment on the PC. If you are using the GO2, configure it on the GO2 NX board.
Step 1: Create the Docker Environment#
# 1. Pull the official ROS Jazzy image (you may need to configure your own proxy)
docker pull ros:jazzy
# 2. Create and start the container with network, permission, and device mappings
docker run -dit --name airbot_vr --network=host --privileged=true \
-v /dev:/dev -v /lib/modules:/lib/modules \
-v /tmp/.X11-unix:/tmp/.X11-unix \
-e ROS_DOMAIN_ID=10 -e DISPLAY=$DISPLAY \
ros:jazzy bash
# 3. Enter the container
docker exec -it airbot_vr bash
Step 2: Install System Dependencies#
# 1. Update the package sources and install basic tools
sudo apt update
sudo apt install -y python3-pip python3-tk libgl1 libglib2.0-0
# 2. Configure the ROS environment permanently
echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
source ~/.bashrc
Step 3: Install Python Dependencies#
# 1. Install the zmq communication package
pip install --break-system-packages zmq -i https://pypi.tuna.tsinghua.edu.cn/simple/
# 2. Install the kinematics library
pip install --break-system-packages mmk2_kdl_py-0.1.3-py3-none-any.whl -i https://pypi.tuna.tsinghua.edu.cn/simple/
# 3. Install the hardware driver library (replace <*> with the actual version number)
pip install --break-system-packages airbot_hardware_py-<*>.whl -i https://pypi.tuna.tsinghua.edu.cn/simple/
- View the attachment
airbot_hardware_py-5.2.7.dev47+g5cdd69f-cp312-cp312-manylinux_2_39_x86_64.whlin the DingTalk document. - View the attachment
airbot_hardware_py-5.2.7.dev47+g5cdd69f-cp312-cp312-manylinux_2_39_aarch64.whlin the DingTalk document.
Step 4: Install Unitree SDK2#
# 1. Clone and build CycloneDDS
git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x
cd cyclonedds && mkdir build install && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=../install
cmake --build . --target install
# 2. Install the Unitree Python SDK
cd /
git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
cd unitree_sdk2_python
export CYCLONEDDS_HOME="/cyclonedds/install"
pip3 install --break-system-packages -e .
Step 5: Install the VR Control Library#
# Select the package for the system architecture (replace <*> with the actual version number)
pip install --break-system-packages --ignore-installed airbot_vr_py-<*>.whl -i https://pypi.tuna.tsinghua.edu.cn/simple/