No data on topic /lowstate

[kjyothiswaroop]

After unitree_mujoco.py is run with a Unitree G1, i source a terminal using the local_setup.sh in unitree_ros2.

But when I do
ros2 topic echo /lowstate

I get no messages at all and just a blank terminal.

When mujoco is launched, doesnt it publish the lowstates? Is it just a dummy message?

[HainingLuo]

Hi, I had the same problem and fixed it by changing the cyclone dds port, as stated in this issue.

Check if you got selected interface "lo" is not multicast-capable: disabling multicast when running mujoco. If so, find a port that supports multicast with ifconfig | grep MULTICAST. Replace the port in your mujoco config file. and set in your setup.sh file

export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
                            <NetworkInterface name="'YOUR PORT" priority="default" multicast="default" />
                        </Interfaces></General></Domain></CycloneDDS>'

I was able to get data stream and the topics in this way. Hope it helps.