Go2 Livox Backpack Navigation Spec

[kahzmic]

Purpose

Outline the features and expected workflow for a Go2 navigation system that uses an external Livox Mid360 and runs on an external Jetson attached to the Go2.

Features

• running dimos run unitree-go2-backpack should provide the user a web address to a control center UI that they can open on their computer. The control center will be the same as the one in dimos run unitree-go2
• The blueprint will use the Fastlio native module for localization and mapping with the existing nav stack for costmap
• The blueprint will be able to run on a Jetson that will be connected the Mid-360 sensor
• The blueprint will have a module that will have a local config to allow the user to define the initial height offset of the Mid-360.
• when running dimos run unitree-go2-backpack the user will be allowed to set the max point cloud height of the Mid-360 (Max height should be the ceiling height) as a command line argument

User Stories

• As a developer hacking on Dimos, I can read markdown instructions in docs of the repo so that I know how to setup my Mid-360 and backpack correctly for navigation
  • this includes how to set config values such as the Mid360 IP, offset height, and lidar cutoff height
• As a developer hacking on Dimos, I can run an installer (not part of this spec) so that I don't have to manually figure out what to install to get the blueprint working
• As a developer hacking on Dimos, after setup I can run dimos run unitree-go2-backpack so that I can control the location of the go2 with high quality lidar visualization
  • this includes:
    • User copies control center web address form Jetson terminal and pastes it into their web browser
    • User takes over the world

[jeff-hykin]

run this on the backpack to set it up (and let me know if there's problems)

DIM_BRANCH=<YOUR_BRANCH> bash <(curl -fsSL https://pub-4767fdd15e6a41b6b2ce2558d71ec8d9.r2.dev/install.sh)

[jeff-hykin]

@kahzmic alright I just updated the spec and while its on the light side we'll add something else in a different PR, like intelligent lidar-update, better python SLAM or costmap that doesn't need a z-cutoff for lidar for the costmap, etc.

[jeff-hykin]

I guess you can't do <YOUR_BRANCH> with the installer cause you'll have a fork, as a workaround just do branch=dev and then when it fails pick fix manually and nuke the git repo, git clone your own, and then exit and the installer will just continue from there