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#!/bin/bash
echo "Setup unitree g1 in ros2 environment on laptop"
# source /opt/ros/humble/setup.bash
# source $HOME/dog_robot/unitree/unitree_ros2/cyclonedds_ws/install/setup.bash
source $HOME/dog_robot/unitree_go2_ros2_demo/cyclonedds_ws/install/local_setup.bash
source $HOME/human_robot/unitree_g1_ros2_demo/unitree_g1_ros2_function_pkg/install/local_setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# LAN
export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
<NetworkInterface name="enp0s31f6" priority="default" multicast="default" />
</Interfaces></General></Domain></CycloneDDS>'
# # WLAN
# export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
# <NetworkInterface name="wlp0s20f3" priority="default" multicast="default" />
# </Interfaces></General></Domain></CycloneDDS>'