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DIMOS Setup Guide

Prerequisites

Add the following line to your ~/.bashrc to source the ROS 2 Jazzy setup script automatically:

echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc

MID360 Ethernet Configuration

Step 1: Configure Network Interface

  1. Open Network Settings in Ubuntu
  2. Find your Ethernet connection to the MID360
  3. Click the gear icon to edit settings
  4. Go to IPv4 tab
  5. Change Method from "Automatic (DHCP)" to "Manual"
  6. Add the following settings:
    • Address: 192.168.1.5
    • Netmask: 255.255.255.0
    • Gateway: 192.168.1.1
  7. Click "Apply"

Step 2: Configure MID360 IP in JSON

  1. Find your MID360 serial number (on sticker under QR code)
  2. Note the last 2 digits (e.g., if serial ends in 89, use 189)
  3. Edit the configuration file:
cd ~/autonomy_stack_mecanum_wheel_platform
nano src/utilities/livox_ros_driver2/config/MID360_config.json
  1. Update line 28 with your IP (192.168.1.1xx where xx = last 2 digits):
"ip" : "192.168.1.1xx",
  1. Save and exit

Step 3: Verify Connection

ping 192.168.1.1xx  # Replace xx with your last 2 digits

Robot Configuration

Setting Robot Type

The system supports different robot configurations. Set the ROBOT_CONFIG_PATH environment variable to specify which robot configuration to use:

# For Unitree G1 (default if not set)
export ROBOT_CONFIG_PATH="unitree/unitree_g1"

# Add to ~/.bashrc to make permanent
echo 'export ROBOT_CONFIG_PATH="unitree/unitree_g1"' >> ~/.bashrc

Available robot configurations:

  • unitree/unitree_g1 - Unitree G1 robot (default)
  • Add your custom robot configs in src/base_autonomy/local_planner/config/

System Launch

Simulation Mode

cd ~/autonomy_stack_mecanum_wheel_platform

# Base autonomy only
./system_simulation.sh

# With route planner
./system_simulation_with_route_planner.sh

# With exploration planner
./system_simulation_with_exploration_planner.sh

Real Robot Mode

cd ~/autonomy_stack_mecanum_wheel_platform

# Base autonomy only
./system_real_robot.sh

# With route planner
./system_real_robot_with_route_planner.sh

# With exploration planner
./system_real_robot_with_exploration_planner.sh

Quick Troubleshooting

  • Cannot ping MID360: Check Ethernet cable and network settings
  • SLAM drift: Press clear-terrain-map button on joystick controller
  • Joystick not recognized: Unplug and replug USB dongle