GO2 Visualization

You can view the GO2’s current state by typing in one of the ssh sessions:

ros2 launch go2_viz view_robot.launch.py

GO2 Tele-operation

You can teleoperate the GO2 by running the following in one of the ssh sessions:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

GO2 Mode Activation

Available GO2 Modes via ROS2 Services:

• normal_stand
• balance_stand
• recovery_stand
• stand_down
• stand_up
• gait_type_idle
• gait_type_trot
• gait_type_trot_running
• gait_type_climb
• gait_type_obstacle
• stretch
• wallow ( Robot goes on back , and can damage the Arm )