🚀 Deploy de Projetos no Unitree G1

Objetivo do Módulo

Dominar deployment completo no G1: criar systemd services para auto-start, containerizar com Docker, implementar remote debugging, fazer OTA updates, e monitorar robô em produção.

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🖥️ Jetson Orin NX Overview

Hardware do G1

Computador Onboard:

• CPU: 8-core ARM Cortex-A78AE @ 2.0 GHz
• GPU: Ampere (1024 CUDA cores)
• RAM: 16 GB LPDDR5
• Storage: 256 GB NVMe SSD
• OS: Ubuntu 22.04 (JetPack 6.0)
• AI Performance: 100 TOPS (INT8)

SSH Access

# Conectar via WiFi
ssh unitree@192.168.123.10
# Senha padrão: unitree

# Ou via Ethernet
ssh unitree@192.168.123.10

# Primeira vez: trocar senha
passwd

Setup SSH Keys (sem senha):

# No seu PC:
ssh-keygen -t ed25519 -C "your_email@example.com"
ssh-copy-id unitree@192.168.123.10

# Agora pode conectar sem senha:
ssh unitree@192.168.123.10

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📦 Estrutura de Projeto

Organização Recomendada

/home/unitree/
├── g1_workspace/
│   ├── src/
│   │   ├── g1_bridge/
│   │   ├── g1_perception/
│   │   ├── g1_navigation/
│   │   └── g1_manipulation/
│   ├── install/
│   ├── build/
│   └── log/
├── data/
│   ├── maps/
│   ├── models/  # YOLO, etc.
│   └── logs/
├── config/
│   ├── nav2_params.yaml
│   ├── moveit_config/
│   └── perception_config.yaml
└── scripts/
    ├── start_autonomy.sh
    ├── stop_autonomy.sh
    └── health_check.sh

Setup Script

#!/bin/bash
# setup_g1_project.sh - Setup inicial do projeto

set -e

echo "🤖 Setup Unitree G1 Project"

# 1. Atualizar sistema
sudo apt update && sudo apt upgrade -y

# 2. Instalar dependências
sudo apt install -y \
    ros-humble-desktop \
    ros-humble-navigation2 \
    ros-humble-nav2-bringup \
    ros-humble-moveit \
    ros-humble-realsense2-camera \
    python3-pip \
    git \
    vim \
    htop \
    tmux

# 3. Python packages
pip3 install \
    unitree_sdk2_python \
    numpy \
    opencv-python \
    ultralytics \
    open3d

# 4. Criar workspace
mkdir -p ~/g1_workspace/src
cd ~/g1_workspace
colcon build

# 5. Source workspace
echo "source ~/g1_workspace/install/setup.bash" >> ~/.bashrc

# 6. Criar diretórios
mkdir -p ~/data/{maps,models,logs}
mkdir -p ~/config
mkdir -p ~/scripts

echo "✅ Setup completo!"

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🔄 Systemd Services

Service para Auto-Start

🌉 G1 Bridge Service

Criar service:

sudo nano /etc/systemd/system/g1-bridge.service

Conteúdo:

[Unit]
Description=Unitree G1 ROS2 Bridge
After=network.target

[Service]
Type=simple
User=unitree
Group=unitree
WorkingDirectory=/home/unitree/g1_workspace

# Source ROS2 e workspace
Environment="ROS_DOMAIN_ID=0"
ExecStartPre=/bin/bash -c "source /opt/ros/humble/setup.bash && source /home/unitree/g1_workspace/install/setup.bash"

# Comando principal
ExecStart=/bin/bash -c "source /opt/ros/humble/setup.bash && source /home/unitree/g1_workspace/install/setup.bash && ros2 run g1_ros2_bridge g1_bridge"

# Restart automático
Restart=always
RestartSec=10

# Logging
StandardOutput=journal
StandardError=journal

[Install]
WantedBy=multi-user.target

Habilitar e iniciar:

# Recarregar systemd
sudo systemctl daemon-reload

# Habilitar (auto-start no boot)
sudo systemctl enable g1-bridge.service

# Iniciar agora
sudo systemctl start g1-bridge.service

# Verificar status
sudo systemctl status g1-bridge.service

# Ver logs
journalctl -u g1-bridge.service -f

🗺️ Navigation Service

g1-navigation.service:

[Unit]
Description=Unitree G1 Navigation System
After=network.target g1-bridge.service
Requires=g1-bridge.service

[Service]
Type=simple
User=unitree
Group=unitree
WorkingDirectory=/home/unitree/g1_workspace

ExecStart=/bin/bash -c "source /opt/ros/humble/setup.bash && source /home/unitree/g1_workspace/install/setup.bash && ros2 launch nav2_bringup navigation_launch.py params_file:=/home/unitree/config/nav2_params.yaml"

Restart=always
RestartSec=10

StandardOutput=journal
StandardError=journal

[Install]
WantedBy=multi-user.target

👁️ Perception Service

g1-perception.service:

[Unit]
Description=Unitree G1 Perception System
After=network.target g1-bridge.service
Requires=g1-bridge.service

[Service]
Type=simple
User=unitree
Group=unitree
WorkingDirectory=/home/unitree/g1_workspace

ExecStart=/bin/bash -c "source /opt/ros/humble/setup.bash && source /home/unitree/g1_workspace/install/setup.bash && ros2 run g1_perception perception_system"

Restart=always
RestartSec=10

StandardOutput=journal
StandardError=journal

[Install]
WantedBy=multi-user.target

🚀 Master Service

g1-autonomy.service (inicia todos):

[Unit]
Description=Unitree G1 Complete Autonomy System
After=network.target

[Service]
Type=oneshot
RemainAfterExit=yes

ExecStart=/bin/bash /home/unitree/scripts/start_autonomy.sh
ExecStop=/bin/bash /home/unitree/scripts/stop_autonomy.sh

[Install]
WantedBy=multi-user.target

start_autonomy.sh:

#!/bin/bash
# start_autonomy.sh - Inicia todos os serviços

set -e

echo "🚀 Starting G1 Autonomy System"

# Ordem de inicialização
systemctl start g1-bridge.service
sleep 5

systemctl start g1-perception.service
sleep 3

systemctl start g1-navigation.service
sleep 3

echo "✅ All systems operational"

stop_autonomy.sh:

#!/bin/bash
# stop_autonomy.sh - Para todos os serviços

echo "🛑 Stopping G1 Autonomy System"

systemctl stop g1-navigation.service
systemctl stop g1-perception.service
systemctl stop g1-bridge.service

echo "✅ All systems stopped"

---

🐳 Docker Containerization

Dockerfile para G1

# Dockerfile.g1
FROM arm64v8/ros:humble

# Metadata
LABEL maintainer="your_email@example.com"
LABEL description="Unitree G1 Autonomy Container"

# Avoid prompts
ENV DEBIAN_FRONTEND=noninteractive

# Install dependencies
RUN apt-get update && apt-get install -y \
    python3-pip \
    python3-opencv \
    ros-humble-navigation2 \
    ros-humble-nav2-bringup \
    ros-humble-moveit \
    && rm -rf /var/lib/apt/lists/*

# Install Python packages
RUN pip3 install --no-cache-dir \
    unitree_sdk2_python \
    numpy \
    ultralytics \
    open3d

# Create workspace
RUN mkdir -p /workspace/src
WORKDIR /workspace

# Copy source code
COPY ./src /workspace/src

# Build workspace
RUN . /opt/ros/humble/setup.sh && \
    colcon build --symlink-install

# Source workspace on container start
RUN echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc && \
    echo "source /workspace/install/setup.bash" >> /root/.bashrc

# Entrypoint
COPY ./docker-entrypoint.sh /
RUN chmod +x /docker-entrypoint.sh
ENTRYPOINT ["/docker-entrypoint.sh"]

CMD ["bash"]

docker-entrypoint.sh:

#!/bin/bash
set -e

# Source ROS2
source /opt/ros/humble/setup.bash
source /workspace/install/setup.bash

# Execute command
exec "$@"

Docker Compose

# docker-compose.yml
version: '3.8'

services:
  g1_bridge:
    build:
      context: .
      dockerfile: Dockerfile.g1
    image: g1_autonomy:latest
    container_name: g1_bridge
    network_mode: host
    privileged: true
    restart: unless-stopped
    volumes:
      - /home/unitree/g1_workspace:/workspace
      - /home/unitree/data:/data
      - /home/unitree/config:/config
    environment:
      - ROS_DOMAIN_ID=0
      - CYCLONEDDS_URI=file:///config/cyclonedds.xml
    command: ros2 run g1_ros2_bridge g1_bridge

  g1_perception:
    image: g1_autonomy:latest
    container_name: g1_perception
    network_mode: host
    privileged: true
    restart: unless-stopped
    depends_on:
      - g1_bridge
    volumes:
      - /home/unitree/g1_workspace:/workspace
      - /home/unitree/data:/data
      - /home/unitree/config:/config
    environment:
      - ROS_DOMAIN_ID=0
    command: ros2 run g1_perception perception_system

  g1_navigation:
    image: g1_autonomy:latest
    container_name: g1_navigation
    network_mode: host
    privileged: true
    restart: unless-stopped
    depends_on:
      - g1_bridge
    volumes:
      - /home/unitree/g1_workspace:/workspace
      - /home/unitree/data/maps:/maps
      - /home/unitree/config:/config
    environment:
      - ROS_DOMAIN_ID=0
    command: >
      ros2 launch nav2_bringup navigation_launch.py
      params_file:=/config/nav2_params.yaml

Build e Run:

# Build image
docker-compose build

# Iniciar todos os containers
docker-compose up -d

# Ver logs
docker-compose logs -f

# Parar todos
docker-compose down

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🔍 Remote Debugging

VS Code Remote SSH

1. Instalar extensão: Remote - SSH (Microsoft)

2. Configurar:

# No PC, editar ~/.ssh/config
nano ~/.ssh/config

Adicionar:

Host g1-robot
    HostName 192.168.123.10
    User unitree
    IdentityFile ~/.ssh/id_ed25519

3. Conectar:

• VS Code: Ctrl+Shift+P → "Remote-SSH: Connect to Host" → g1-robot
• Agora VS Code está rodando no G1!

4. Debugar Python:

.vscode/launch.json:

{
    "version": "0.2.0",
    "configurations": [
        {
            "name": "Python: ROS2 Node",
            "type": "python",
            "request": "launch",
            "program": "${workspaceFolder}/install/g1_perception/lib/g1_perception/perception_system",
            "console": "integratedTerminal",
            "env": {
                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}/install/g1_perception/lib/python3.10/site-packages"
            },
            "justMyCode": false
        }
    ]
}

ROS2 Debugging Tools

# Ver todos os nodes rodando
ros2 node list

# Informações de um node
ros2 node info /g1_bridge

# Ver topics
ros2 topic list

# Echo de topic (monitorar)
ros2 topic echo /joint_states

# Hz de topic
ros2 topic hz /joint_states

# Gravar bag (para debug posterior)
ros2 bag record -a -o debug_session

# Replay bag
ros2 bag play debug_session

Profiling

#!/usr/bin/env python3
"""
profiler.py - Profiling de performance
"""

import cProfile
import pstats
import io

def profile_node():
    """Profile ROS2 node"""
    pr = cProfile.Profile()
    pr.enable()

    # Código a ser profileado
    # rclpy.spin(node)

    pr.disable()

    # Salvar resultados
    s = io.StringIO()
    ps = pstats.Stats(pr, stream=s).sort_stats('cumulative')
    ps.print_stats(20)  # Top 20

    print(s.getvalue())

    # Ou salvar em arquivo
    ps.dump_stats('/tmp/profile.stats')

---

🔄 OTA Updates

Update Script

#!/bin/bash
# ota_update.sh - Over-The-Air update

set -e

UPDATE_URL="https://your-server.com/g1_updates/latest.tar.gz"
BACKUP_DIR="/home/unitree/backups"
WORKSPACE="/home/unitree/g1_workspace"

echo "🔄 Starting OTA Update"

# 1. Criar backup
echo "📦 Creating backup..."
mkdir -p $BACKUP_DIR
TIMESTAMP=$(date +%Y%m%d_%H%M%S)
tar -czf $BACKUP_DIR/workspace_backup_$TIMESTAMP.tar.gz $WORKSPACE

# 2. Parar serviços
echo "🛑 Stopping services..."
sudo systemctl stop g1-autonomy.service

# 3. Download update
echo "⬇️  Downloading update..."
wget -O /tmp/update.tar.gz $UPDATE_URL

# 4. Extrair
echo "📂 Extracting update..."
cd $WORKSPACE
tar -xzf /tmp/update.tar.gz

# 5. Build
echo "🔨 Building workspace..."
source /opt/ros/humble/setup.bash
colcon build --symlink-install

# 6. Reiniciar serviços
echo "🚀 Restarting services..."
sudo systemctl start g1-autonomy.service

# 7. Verificar saúde
echo "🩺 Health check..."
sleep 10
./scripts/health_check.sh

if [ $? -eq 0 ]; then
    echo "✅ Update successful!"
else
    echo "❌ Update failed - Rolling back..."

    # Rollback
    sudo systemctl stop g1-autonomy.service
    rm -rf $WORKSPACE
    tar -xzf $BACKUP_DIR/workspace_backup_$TIMESTAMP.tar.gz -C /
    sudo systemctl start g1-autonomy.service

    echo "⚠️  Rolled back to previous version"
    exit 1
fi

# 8. Limpar
rm /tmp/update.tar.gz

echo "🎉 OTA Update complete!"

Health Check Script

#!/bin/bash
# health_check.sh - Verifica saúde do sistema

set -e

echo "🩺 G1 Health Check"

# 1. Verificar serviços systemd
echo "Checking systemd services..."
SERVICES=("g1-bridge" "g1-perception" "g1-navigation")

for service in "${SERVICES[@]}"; do
    if systemctl is-active --quiet $service.service; then
        echo "  ✅ $service: running"
    else
        echo "  ❌ $service: NOT running"
        exit 1
    fi
done

# 2. Verificar ROS2 nodes
echo "Checking ROS2 nodes..."
NODES=("/g1_bridge" "/perception_system" "/controller_server")

for node in "${NODES[@]}"; do
    if ros2 node list | grep -q $node; then
        echo "  ✅ $node: alive"
    else
        echo "  ❌ $node: NOT found"
        exit 1
    fi
done

# 3. Verificar topics (frequência)
echo "Checking topic frequencies..."
JOINT_STATE_HZ=$(ros2 topic hz /joint_states --window 10 2>&1 | grep "average rate" | awk '{print $3}')

if (( $(echo "$JOINT_STATE_HZ > 50" | bc -l) )); then
    echo "  ✅ /joint_states: ${JOINT_STATE_HZ} Hz"
else
    echo "  ❌ /joint_states: ${JOINT_STATE_HZ} Hz (too low)"
    exit 1
fi

# 4. Verificar bateria
echo "Checking battery..."
BATTERY=$(ros2 topic echo /robot_state --once | grep "battery_percentage" | awk '{print $2}')

if (( $(echo "$BATTERY > 10" | bc -l) )); then
    echo "  ✅ Battery: ${BATTERY}%"
else
    echo "  ⚠️  Battery LOW: ${BATTERY}%"
fi

# 5. Verificar disco
echo "Checking disk space..."
DISK_USAGE=$(df -h /home | tail -1 | awk '{print $5}' | sed 's/%//')

if [ $DISK_USAGE -lt 90 ]; then
    echo "  ✅ Disk: ${DISK_USAGE}% used"
else
    echo "  ⚠️  Disk almost full: ${DISK_USAGE}%"
fi

echo ""
echo "✅ All health checks passed!"
exit 0

---

📊 Monitoring & Logging

Prometheus + Grafana

docker-compose.monitoring.yml:

version: '3.8'

services:
  prometheus:
    image: prom/prometheus:latest
    container_name: prometheus
    ports:
      - "9090:9090"
    volumes:
      - ./monitoring/prometheus.yml:/etc/prometheus/prometheus.yml
      - prometheus_data:/prometheus
    command:
      - '--config.file=/etc/prometheus/prometheus.yml'
    restart: unless-stopped

  grafana:
    image: grafana/grafana:latest
    container_name: grafana
    ports:
      - "3000:3000"
    volumes:
      - grafana_data:/var/lib/grafana
      - ./monitoring/dashboards:/etc/grafana/provisioning/dashboards
    environment:
      - GF_SECURITY_ADMIN_PASSWORD=admin
    restart: unless-stopped

  node_exporter:
    image: prom/node-exporter:latest
    container_name: node_exporter
    ports:
      - "9100:9100"
    restart: unless-stopped

volumes:
  prometheus_data:
  grafana_data:

Custom Metrics Exporter

#!/usr/bin/env python3
"""
metrics_exporter.py - Exporta métricas do G1 para Prometheus
"""

from prometheus_client import start_http_server, Gauge
import rclpy
from rclpy.node import Node
from sensor_msgs.msg import JointState
from std_msgs.msg import Float32

class MetricsExporter(Node):
    def __init__(self):
        super().__init__('metrics_exporter')

        # Prometheus gauges
        self.battery_gauge = Gauge('g1_battery_percentage', 'Battery percentage')
        self.cpu_temp_gauge = Gauge('g1_cpu_temperature', 'CPU temperature')
        self.joint_temp_gauge = Gauge('g1_joint_temperature', 'Joint temperature', ['joint_name'])

        # Subscribers
        self.create_subscription(JointState, '/joint_states', self.joint_callback, 10)

        # Start Prometheus server
        start_http_server(8000)
        self.get_logger().info('Metrics exporter started on :8000')

    def joint_callback(self, msg):
        """Update joint metrics"""
        for name, temp in zip(msg.name, msg.effort):  # Effort usado para temp (placeholder)
            self.joint_temp_gauge.labels(joint_name=name).set(temp)

def main():
    rclpy.init()
    node = MetricsExporter()
    rclpy.spin(node)
    node.destroy_node()
    rclpy.shutdown()

if __name__ == '__main__':
    main()

---

✅ Checklist Final

• Criei estrutura de projeto organizada
• Configurei systemd services para auto-start
• Containerizei projeto com Docker
• Setup remote debugging com VS Code
• Implementei OTA update script
• Criei health check script
• Setup monitoring (Prometheus + Grafana)
• Testei deploy completo

---

🎓 Conclusão do Tier 3.1

Parabéns! Você completou o Tier 3.1 - Programando Unitree G1.

Você agora domina:

1. ✅ Unitree SDK (DDS, APIs, conexão)
2. ✅ Controle de baixo nível (PID, torque, posição)
3. ✅ Leitura de sensores (IMU, força, encoders)
4. ✅ Locomoção customizada (gaits, terrain adaptation)
5. ✅ Manipulação (IK, gripper, pick and place)
6. ✅ Integração ROS2 (bridge, tf2, MoveIt, Nav2)
7. ✅ Visão (RealSense, SLAM, object detection)
8. ✅ Autonomia (FSM, behavior trees, recovery)
9. ✅ Multi-floor navigation (elevadores, escadas)
10. ✅ Deploy profissional (systemd, Docker, OTA)

Próximos passos:

• 🚀 Deploy seu projeto em robô real
• 📹 Grave vídeos para portfólio
• 💼 Candidate-se para vagas em robótica
• 🤝 Contribua para projetos open-source

Recursos adicionais:

• Unitree Developer Forum
• G1 GitHub Examples
• ROS2 Humble Docs

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⏱️ Tempo estimado: 90-120 min 🧠 Nível: Avançado 💻 Hands-on: 80% prático, 20% teórico