Update SLAM and Go2 documentation

robot/quadruped/go2.md

@@ -46,6 +46,7 @@ Go2 Edu has 1 built-in computer and 1 onboard computer (expansion dock module):
 * **Go2 App, Robot Features, Tutorial Videos, Manuals**: [Go2 Features](https://www.unitree.com/app/go2) 
 * **Other Information**: [URDF/CAD](https://support.unitree.com/home/en/developer/Obtain%20SDK)
 * **Tutorials Page**: [Diagnostic Guide](/tutorial/intro)
+* **Simultaneous Localization and Mapping Guide**: [SLAM Guide](/software/SLAM)
 
 ## 4. FAQ
 

sidebars-software.ts

@@ -17,7 +17,14 @@ const sidebarsSoftware: SidebarsConfig = {
         'toolbox/assisted_driving_toolbox',
       ],
     },
+    {
+      type: 'category',
+      label: 'Unitree SLAM Guide',
+      items: [
+        'SLAM/SLAM',
+      ],
+    },
   ],
 };
 
-export default sidebarsSoftware;
+export default sidebarsSoftware;

software/SLAM/SLAM.md

@@ -0,0 +1,90 @@
+---
+sidebar_position: 1
+---
+
+# SLAM Setup and Configuration
+
+## 1. Setup
+
+### 1.1 Preparation on user's computer
+
+- Laptop (recommended) with Ubuntu 20.04 or 22.04
+- ROS2 Foxy or [Humble](https://docs.ros.org/en/humble/Installation.html)(recommended)
+	- ROS_DOMAIN_ID=0
+- [Unitree_SDK_GO2](https://support.unitree.com/home/en/developer/Quick_start) (For programming capabilities)(for **GO2**)
+- [Unitree_SDK_GO2-W](https://support.unitree.com/home/en/Go2-W_developer/Quick_Start) (For programming capabilities)(for **GO2-W**)
+- [Unitree_ROS2](https://support.unitree.com/home/en/Go2-W_developer/ROS2_service) (For ros2 topics and communication on DDS)
+	- Modify the network interface name to match the ethernet connection
+	- Change the ros distro
+	![](./img/ROS_Distro.png)
+	- [Cyclonedds](https://docs.ros.org/en/humble/Installation/RMW-Implementations/DDS-Implementations/Working-with-Eclipse-CycloneDDS.html)((Required for communication with robot)
+	- Ethernet Cable
+
+### 1.2 Additional Preparation
+- [Unitree Go App Binding](https://support.unitree.com/home/en/developer/App_binding)
+- [Payload Information/ Installation Guide](https://support.unitree.com/home/en/developer/Payload) – Expansion Dock, Depth Camera, XT16 Lidar
+- [Expansion Dock Configuration ](https://support.unitree.com/home/en/developer/module_update) – Username & password, how to connect, expansion dock module update 
+	- rviz configuration inside the “Expansion Dock Module Update Package” in **unitree/module/unitree_slam/rviz2/**
+	- Username: unitree
+	- Password: 123 (same for sudo password)
+		- **ssh unitree@192.168.123.18**
+	- If you encounter building/ make/ code running (e.g. **./unitree_slam**) error, use **sudo**
+
+## 2. Configuration
+
+### 2.1 Wire Connection
+
+> This information is also present in the [Expansion Dock Configuration](https://support.unitree.com/home/en/developer/module_update).  
+
+![](./img/wired_connection.png)  
+
+Set the wired connection as shown above after connecting to the robot dog (robot has to be on).
+Once you have setup the connection successfully, you should be able to **ping 192.168.123.18** in a terminal; after **source unitree_ros2/setup.sh** and **ros2 topic list** you should be able to see the topics being displayed.
+
+### 2.2 SLAM Usage
+
+> This is done on the expansion dock (*through remote-ssh*).
+
+- For YSN (if required), refer to the QR code behind the Lidar  
+
+Default programs are found in /unitree/module/unitree_slam/bin.  
+
+To make modifications to the keyDemo file (such as changing the speed and obstacle avoidance/detection), edit the file in the **/unitree/module/unitree_slam/example/src/keyDemo.cpp**.  
+
+After editing, change directory to **/unitree/module/unitree_slam/example/** and create a build file is it has not been created.  
+	- **cd /unitree/module/unitree_slam/example**
+	- **mkdir -p build && cd build**
+	- **sudo cmake ..** # if unable to **sudo cmake ..**, use **sudo su** and run **cmake .., exit** after executing this “cmake ..” command
+	- **sudo make -j**  
+
+You will need to open at least 3 terminals (+1 if you want to view rviz). Run the programs in this order (order matters):  
+1. **cd /unitree/module/unitree_slam/bin**
+2. **sudo ./unitree_slam**
+3. **sudo ./xt16_driver**
+4. **sudo /keyDemo eth0** # if running default keyDemo
+	1. For edited keyDemo:
+		1. **cd /unitree/module/unitree_slam/example/build**
+		2. **sudo ./keyDemo eth0**
+	2. You will see this  
+	![](./img/terminal_output.png)  
+
+For rviz, on <u>your own computer</u>, open a terminal and source **unitree_ros2/setup.sh** and **cd unitree/module/unitree_slam/rviz2/**. Run **rviz2 -d mapping.rviz** or **relocation.rviz**  
+
+Robot must start at the exact spot that mapping began, else it will have localisation issues, so choose the starting position wisely. Before mapping, ensure the robot <u>is standing</u>.  
+
+When mapping, control the Go2/Go2-W via RC slowly around the area that you would like to map. Repeat the route twice to ensure that the map is detailed and written properly.  
+
+- Press **W** to stop mapping
+- Press **A** to start Relocation and Positioning Initialization
+	- Starting position has to line up with map, use rviz to guide to starting position
+- Press **S** to add node/edge (checkpoints)
+	- The first node must always be the starting point
+- Press **Any key** to stop SLAM and control the Go2/Go2-W to the starting point
+- Press **A** to localize and press **D** to start the loop
+	- Cautions:
+		- Go2/Go2-W must be at the Initial Position before starting navigation
+		- if you would like to pause the navigation, press **Z** before doing **CTRL+C** to all terminals
+		- Remote will take precedence and stop SLAM navigation immediately when used
+	- After navigating through all the nodes/edges, the Go2/Go2-W will navigate back to the starting point by itself
+		- Eg. 1-2-3-2-1
+

software/SLAM/_category_.json

@@ -0,0 +1,8 @@
+{
+  "label": "Unitree SLAM Guide",
+  "position": 3,
+  "link": {
+    "type": "generated-index",
+    "description": "Unitree SLAM Guide."
+  }
+}