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WebRTC Direct Test

Purpose

Validate the WebRTC transport path before a full ShadowHound deployment by exercising the SDK driver and mission command scripts end to end.

Prerequisites

  • ROS 2 Workstation Setup completed inside the development container.
  • Robot reachable over Wi-Fi with its IP address available (or plan to rerun setup to update it).
  • Access to the scripts/ utilities included with the repository checkout.
  • Environment configured using your standard .env (see Environment Configuration Guide). No bespoke per-test .env files are required.

Steps

  1. Launch the Unitree SDK driver in WebRTC mode to establish the media and control channels.
  2. Send validation commands from a separate terminal to confirm bidirectional communication.
  3. Capture any anomalies in the Troubleshooting section and update this page after remediation.

Environment Notes

  • Ensure GO2_IP is set appropriately in your standard environment.
  • Set CONN_TYPE=webrtc when using WebRTC transport.
  • RMW_IMPLEMENTATION=rmw_cyclonedds_cpp is recommended.

Launch Sequence

  1. Terminal 1 – Start the driver bash ./scripts/test_webrtc_direct.sh
  2. Terminal 2 – Exercise commands bash ./scripts/test_commands.sh sit ./scripts/test_commands.sh stand ./scripts/test_commands.sh wave

Troubleshooting

  • Robot not reachable — Confirm IP and network reachability.
  • Incorrect configuration — Review your standard environment variables.

Validation

  • [ ] ./scripts/test_webrtc_direct.sh reports a healthy WebRTC connection without errors.
  • [ ] Mission command scripts trigger the expected sit/stand/wave behaviors (or mock confirmations in simulation).

See Also

References