Getting IP for the robot

[smarnav2904]

Dear author, firtst of all your repository it's amazing, me and our team have beeing using it locally to test all the capabilities your repo provides as we recently bought the EDU version for researching on SLAM and different project. However, using it with cable right now it's not desired and when trying to using WebRTC we are not able to see any topic from the robot. When you set the IP of the dog, you set AP mode or WIFI mode on it? Did you change any configuration file within it? Which subnet are you on when running the repositoty? I know there are so many questions, and am sorry in advance, if you would like personal contact to reach me let me know. Thanks in advance.

[smarnav2904]

To extend my question, I attach the error i get when trying to use it via wifi.

[INFO] [launch]: Default logging verbosity is set to INFO
IP list: ['192.168.50.69']
[INFO] [robot_state_publisher-1]: process started with pid [28980]
[INFO] [pointcloud_to_laserscan_node-2]: process started with pid [28982]
[INFO] [go2_driver_node-3]: process started with pid [28984]
[INFO] [lidar_to_pointcloud-4]: process started with pid [28986]
[INFO] [rviz2-5]: process started with pid [28988]
[INFO] [joy_node-6]: process started with pid [28990]
[INFO] [teleop_node-7]: process started with pid [28992]
[INFO] [twist_mux-8]: process started with pid [28994]
[INFO] [foxglove_bridge-9]: process started with pid [29000]
[INFO] [async_slam_toolbox_node-10]: process started with pid [29002]
[INFO] [controller_server-11]: process started with pid [29004]
[INFO] [smoother_server-12]: process started with pid [29006]
[INFO] [planner_server-13]: process started with pid [29009]
[INFO] [behavior_server-14]: process started with pid [29029]
[INFO] [bt_navigator-15]: process started with pid [29031]
[INFO] [waypoint_follower-16]: process started with pid [29039]
[INFO] [velocity_smoother-17]: process started with pid [29041]
[INFO] [lifecycle_manager-18]: process started with pid [29043]
[ERROR] [bt_navigator-15]: process has died [pid 29031, exit code -6, cmd '/opt/ros/humble/lib/nav2_bt_navigator/bt_navigator --ros-args --log-level info --ros-args -r __node:=bt_navigator --params-file /tmp/launch_params_7rzw1s1_ -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [behavior_server-14]: process has died [pid 29029, exit code -6, cmd '/opt/ros/humble/lib/nav2_behaviors/behavior_server --ros-args --log-level info --ros-args -r __node:=behavior_server --params-file /tmp/launch_params_7rzw1s1_ -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [velocity_smoother-17]: process has died [pid 29041, exit code -6, cmd '/opt/ros/humble/lib/nav2_velocity_smoother/velocity_smoother --ros-args --log-level info --ros-args -r __node:=velocity_smoother --params-file /tmp/launch_params_7rzw1s1_ -r /tf:=tf -r /tf_static:=tf_static -r cmd_vel:=cmd_vel_nav -r cmd_vel_smoothed:=cmd_vel'].
[robot_state_publisher-1] 1730892649.371575 [0] robot_stat: enp2s0: does not match an available interface.
[robot_state_publisher-1] [ERROR] [1730892649.371603774] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[robot_state_publisher-1] 
[robot_state_publisher-1] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[robot_state_publisher-1] This error state is being overwritten:
[robot_state_publisher-1] 
[robot_state_publisher-1]   'error not set, at ./src/rcl/node.c:263'
[robot_state_publisher-1] 
[robot_state_publisher-1] with this new error message:
[robot_state_publisher-1] 
[robot_state_publisher-1]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[robot_state_publisher-1] 
[robot_state_publisher-1] rcutils_reset_error() should be called after error handling to avoid this.
[robot_state_publisher-1] <<<
[robot_state_publisher-1] [ERROR] [1730892649.371647503] [rcl]: Failed to fini publisher for node: 1
[robot_state_publisher-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[robot_state_publisher-1]   what():  failed to initialize rcl node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[pointcloud_to_laserscan_node-2] 1730892649.367704 [0] pointcloud: enp2s0: does not match an available interface.
[pointcloud_to_laserscan_node-2] [ERROR] [1730892649.367735562] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[pointcloud_to_laserscan_node-2] 
[pointcloud_to_laserscan_node-2] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[pointcloud_to_laserscan_node-2] This error state is being overwritten:
[pointcloud_to_laserscan_node-2] 
[pointcloud_to_laserscan_node-2]   'error not set, at ./src/rcl/node.c:263'
[pointcloud_to_laserscan_node-2] 
[pointcloud_to_laserscan_node-2] with this new error message:
[pointcloud_to_laserscan_node-2] 
[pointcloud_to_laserscan_node-2]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[pointcloud_to_laserscan_node-2] 
[pointcloud_to_laserscan_node-2] rcutils_reset_error() should be called after error handling to avoid this.
[pointcloud_to_laserscan_node-2] <<<
[pointcloud_to_laserscan_node-2] [ERROR] [1730892649.367779889] [rcl]: Failed to fini publisher for node: 1
[pointcloud_to_laserscan_node-2] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[pointcloud_to_laserscan_node-2]   what():  failed to initialize rcl node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[rviz2-5] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[ERROR] [lifecycle_manager-18]: process has died [pid 29043, exit code -6, cmd '/opt/ros/humble/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args --log-level info --ros-args -r __node:=lifecycle_manager_navigation --params-file /tmp/launch_params_rh4p_lzx --params-file /tmp/launch_params_syan4xn9 --params-file /tmp/launch_params_u959nbin'].
[joy_node-6] 1730892649.371920 [0]   joy_node: enp2s0: does not match an available interface.
[joy_node-6] [ERROR] [1730892649.371943285] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[joy_node-6] 
[joy_node-6] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[joy_node-6] This error state is being overwritten:
[joy_node-6] 
[joy_node-6]   'error not set, at ./src/rcl/node.c:263'
[joy_node-6] 
[joy_node-6] with this new error message:
[joy_node-6] 
[joy_node-6]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[joy_node-6] 
[joy_node-6] rcutils_reset_error() should be called after error handling to avoid this.
[joy_node-6] <<<
[joy_node-6] [ERROR] [1730892649.371978496] [rcl]: Failed to fini publisher for node: 1
[joy_node-6] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[joy_node-6]   what():  failed to initialize rcl node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[ERROR] [waypoint_follower-16]: process has died [pid 29039, exit code -6, cmd '/opt/ros/humble/lib/nav2_waypoint_follower/waypoint_follower --ros-args --log-level info --ros-args -r __node:=waypoint_follower --params-file /tmp/launch_params_7rzw1s1_ -r /tf:=tf -r /tf_static:=tf_static'].
[teleop_node-7] 1730892649.369184 [0] teleop_nod: enp2s0: does not match an available interface.
[teleop_node-7] [ERROR] [1730892649.369218270] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[teleop_node-7] 
[teleop_node-7] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[teleop_node-7] This error state is being overwritten:
[teleop_node-7] 
[teleop_node-7]   'error not set, at ./src/rcl/node.c:263'
[teleop_node-7] 
[teleop_node-7] with this new error message:
[teleop_node-7] 
[teleop_node-7]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[teleop_node-7] 
[teleop_node-7] rcutils_reset_error() should be called after error handling to avoid this.
[teleop_node-7] <<<
[teleop_node-7] [ERROR] [1730892649.369269462] [rcl]: Failed to fini publisher for node: 1
[teleop_node-7] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[teleop_node-7]   what():  failed to initialize rcl node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[twist_mux-8] 1730892649.376139 [0]  twist_mux: enp2s0: does not match an available interface.
[twist_mux-8] [ERROR] [1730892649.376174901] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[twist_mux-8] 
[twist_mux-8] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[twist_mux-8] This error state is being overwritten:
[twist_mux-8] 
[twist_mux-8]   'error not set, at ./src/rcl/node.c:263'
[twist_mux-8] 
[twist_mux-8] with this new error message:
[twist_mux-8] 
[twist_mux-8]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[twist_mux-8] 
[twist_mux-8] rcutils_reset_error() should be called after error handling to avoid this.
[twist_mux-8] <<<
[twist_mux-8] [ERROR] [1730892649.376229639] [rcl]: Failed to fini publisher for node: 1
[twist_mux-8] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[twist_mux-8]   what():  failed to initialize rcl node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[foxglove_bridge-9] 1730892649.378209 [0] foxglove_b: enp2s0: does not match an available interface.
[foxglove_bridge-9] [ERROR] [1730892649.378237546] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[foxglove_bridge-9] 
[foxglove_bridge-9] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[foxglove_bridge-9] This error state is being overwritten:
[foxglove_bridge-9] 
[foxglove_bridge-9]   'error not set, at ./src/rcl/node.c:263'
[foxglove_bridge-9] 
[foxglove_bridge-9] with this new error message:
[foxglove_bridge-9] 
[foxglove_bridge-9]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[foxglove_bridge-9] 
[foxglove_bridge-9] rcutils_reset_error() should be called after error handling to avoid this.
[foxglove_bridge-9] <<<
[foxglove_bridge-9] [ERROR] [1730892649.378286376] [rcl]: Failed to fini publisher for node: 1
[foxglove_bridge-9] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[foxglove_bridge-9]   what():  failed to initialize rcl node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[async_slam_toolbox_node-10] 1730892649.382703 [0] async_slam: enp2s0: does not match an available interface.
[async_slam_toolbox_node-10] [ERROR] [1730892649.382738921] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[async_slam_toolbox_node-10] 
[async_slam_toolbox_node-10] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[async_slam_toolbox_node-10] This error state is being overwritten:
[async_slam_toolbox_node-10] 
[async_slam_toolbox_node-10]   'error not set, at ./src/rcl/node.c:263'
[async_slam_toolbox_node-10] 
[async_slam_toolbox_node-10] with this new error message:
[async_slam_toolbox_node-10] 
[async_slam_toolbox_node-10]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[async_slam_toolbox_node-10] 
[async_slam_toolbox_node-10] rcutils_reset_error() should be called after error handling to avoid this.
[async_slam_toolbox_node-10] <<<
[async_slam_toolbox_node-10] [ERROR] [1730892649.382795067] [rcl]: Failed to fini publisher for node: 1
[async_slam_toolbox_node-10] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[async_slam_toolbox_node-10]   what():  failed to initialize rcl node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[controller_server-11] 1730892649.387478 [0] controller: enp2s0: does not match an available interface.
[controller_server-11] [ERROR] [1730892649.387513532] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[controller_server-11] 
[controller_server-11] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[controller_server-11] This error state is being overwritten:
[controller_server-11] 
[controller_server-11]   'error not set, at ./src/rcl/node.c:263'
[controller_server-11] 
[controller_server-11] with this new error message:
[controller_server-11] 
[controller_server-11]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[controller_server-11] 
[controller_server-11] rcutils_reset_error() should be called after error handling to avoid this.
[controller_server-11] <<<
[controller_server-11] [ERROR] [1730892649.387558058] [rcl]: Failed to fini publisher for node: 1
[controller_server-11] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[controller_server-11]   what():  failed to initialize rcl node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[smoother_server-12] 1730892649.386460 [0] smoother_s: enp2s0: does not match an available interface.
[smoother_server-12] [ERROR] [1730892649.386502696] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[smoother_server-12] 
[smoother_server-12] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[smoother_server-12] This error state is being overwritten:
[smoother_server-12] 
[smoother_server-12]   'error not set, at ./src/rcl/node.c:263'
[smoother_server-12] 
[smoother_server-12] with this new error message:
[smoother_server-12] 
[smoother_server-12]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[smoother_server-12] 
[smoother_server-12] rcutils_reset_error() should be called after error handling to avoid this.
[smoother_server-12] <<<
[smoother_server-12] [ERROR] [1730892649.386557376] [rcl]: Failed to fini publisher for node: 1
[smoother_server-12] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[smoother_server-12]   what():  failed to initialize rcl node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[planner_server-13] 1730892649.484956 [0] planner_se: enp2s0: does not match an available interface.
[planner_server-13] [ERROR] [1730892649.485001568] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[planner_server-13] 
[planner_server-13] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[planner_server-13] This error state is being overwritten:
[planner_server-13] 
[planner_server-13]   'error not set, at ./src/rcl/node.c:263'
[planner_server-13] 
[planner_server-13] with this new error message:
[planner_server-13] 
[planner_server-13]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[planner_server-13] 
[planner_server-13] rcutils_reset_error() should be called after error handling to avoid this.
[planner_server-13] <<<
[planner_server-13] [ERROR] [1730892649.485063847] [rcl]: Failed to fini publisher for node: 1
[planner_server-13] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[planner_server-13]   what():  failed to initialize rcl node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[bt_navigator-15] 1730892649.513225 [0] bt_navigat: enp2s0: does not match an available interface.
[bt_navigator-15] [ERROR] [1730892649.513268357] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[bt_navigator-15] 
[bt_navigator-15] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[bt_navigator-15] This error state is being overwritten:
[bt_navigator-15] 
[bt_navigator-15]   'error not set, at ./src/rcl/node.c:263'
[bt_navigator-15] 
[bt_navigator-15] with this new error message:
[bt_navigator-15] 
[bt_navigator-15]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[bt_navigator-15] 
[bt_navigator-15] rcutils_reset_error() should be called after error handling to avoid this.
[bt_navigator-15] <<<
[bt_navigator-15] [ERROR] [1730892649.513316536] [rcl]: Failed to fini publisher for node: 1
[bt_navigator-15] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[bt_navigator-15]   what():  failed to initialize rcl node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[behavior_server-14] 1730892649.515505 [0] behavior_s: enp2s0: does not match an available interface.
[behavior_server-14] [ERROR] [1730892649.515539310] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[behavior_server-14] 
[behavior_server-14] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[behavior_server-14] This error state is being overwritten:
[behavior_server-14] 
[behavior_server-14]   'error not set, at ./src/rcl/node.c:263'
[behavior_server-14] 
[behavior_server-14] with this new error message:
[behavior_server-14] 
[behavior_server-14]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[behavior_server-14] 
[behavior_server-14] rcutils_reset_error() should be called after error handling to avoid this.
[behavior_server-14] <<<
[behavior_server-14] [ERROR] [1730892649.515586927] [rcl]: Failed to fini publisher for node: 1
[behavior_server-14] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[behavior_server-14]   what():  failed to initialize rcl node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[velocity_smoother-17] 1730892649.518880 [0] velocity_s: enp2s0: does not match an available interface.
[velocity_smoother-17] [ERROR] [1730892649.518911544] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[velocity_smoother-17] 
[velocity_smoother-17] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[velocity_smoother-17] This error state is being overwritten:
[velocity_smoother-17] 
[velocity_smoother-17]   'error not set, at ./src/rcl/node.c:263'
[velocity_smoother-17] 
[velocity_smoother-17] with this new error message:
[velocity_smoother-17] 
[velocity_smoother-17]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[velocity_smoother-17] 
[velocity_smoother-17] rcutils_reset_error() should be called after error handling to avoid this.
[velocity_smoother-17] <<<
[velocity_smoother-17] [ERROR] [1730892649.518959750] [rcl]: Failed to fini publisher for node: 1
[velocity_smoother-17] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[velocity_smoother-17]   what():  failed to initialize rcl node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[lifecycle_manager-18] 1730892649.520599 [0] lifecycle_: enp2s0: does not match an available interface.
[lifecycle_manager-18] [ERROR] [1730892649.520632391] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[lifecycle_manager-18] 
[lifecycle_manager-18] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[lifecycle_manager-18] This error state is being overwritten:
[lifecycle_manager-18] 
[lifecycle_manager-18]   'error not set, at ./src/rcl/node.c:263'
[lifecycle_manager-18] 
[lifecycle_manager-18] with this new error message:
[lifecycle_manager-18] 
[lifecycle_manager-18]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[lifecycle_manager-18] 
[lifecycle_manager-18] rcutils_reset_error() should be called after error handling to avoid this.
[lifecycle_manager-18] <<<
[lifecycle_manager-18] [ERROR] [1730892649.520678649] [rcl]: Failed to fini publisher for node: 1
[lifecycle_manager-18] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[lifecycle_manager-18]   what():  failed to initialize rcl node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[waypoint_follower-16] 1730892649.521538 [0] waypoint_f: enp2s0: does not match an available interface.
[waypoint_follower-16] [ERROR] [1730892649.521567885] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[waypoint_follower-16] 
[waypoint_follower-16] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[waypoint_follower-16] This error state is being overwritten:
[waypoint_follower-16] 
[waypoint_follower-16]   'error not set, at ./src/rcl/node.c:263'
[waypoint_follower-16] 
[waypoint_follower-16] with this new error message:
[waypoint_follower-16] 
[waypoint_follower-16]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[waypoint_follower-16] 
[waypoint_follower-16] rcutils_reset_error() should be called after error handling to avoid this.
[waypoint_follower-16] <<<
[waypoint_follower-16] [ERROR] [1730892649.521608613] [rcl]: Failed to fini publisher for node: 1
[waypoint_follower-16] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[waypoint_follower-16]   what():  failed to initialize rcl node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[rviz2-5] 1730892649.537827 [0]      rviz2: enp2s0: does not match an available interface.
[rviz2-5] [ERROR] [1730892649.537886328] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[rviz2-5] 
[rviz2-5] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[rviz2-5] This error state is being overwritten:
[rviz2-5] 
[rviz2-5]   'error not set, at ./src/rcl/node.c:263'
[rviz2-5] 
[rviz2-5] with this new error message:
[rviz2-5] 
[rviz2-5]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[rviz2-5] 
[rviz2-5] rcutils_reset_error() should be called after error handling to avoid this.
[rviz2-5] <<<
[rviz2-5] [ERROR] [1730892649.537945837] [rcl]: Failed to fini publisher for node: 1
[rviz2-5] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[rviz2-5]   what():  failed to initialize rcl node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[ERROR] [rviz2-5]: process has died [pid 28988, exit code -6, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d/home/gonzalo/Desktop/unitree_ws/install/go2_robot_sdk/share/go2_robot_sdk/config/single_robot_conf.rviz --ros-args -r __node:=rviz2 -r __ns:=/'].
[go2_driver_node-3] 
[go2_driver_node-3] A module that was compiled using NumPy 1.x cannot be run in
[go2_driver_node-3] NumPy 2.1.1 as it may crash. To support both 1.x and 2.x
[go2_driver_node-3] versions of NumPy, modules must be compiled with NumPy 2.0.
[go2_driver_node-3] Some module may need to rebuild instead e.g. with 'pybind11>=2.12'.
[go2_driver_node-3] 
[go2_driver_node-3] If you are a user of the module, the easiest solution will be to
[go2_driver_node-3] downgrade to 'numpy<2' or try to upgrade the affected module.
[go2_driver_node-3] We expect that some modules will need time to support NumPy 2.
[go2_driver_node-3] 
[go2_driver_node-3] Traceback (most recent call last):  File "/home/gonzalo/Desktop/unitree_ws/install/go2_robot_sdk/lib/go2_robot_sdk/go2_driver_node", line 33, in <module>
[go2_driver_node-3]     sys.exit(load_entry_point('go2-robot-sdk==0.0.0', 'console_scripts', 'go2_driver_node')())
[go2_driver_node-3]   File "/home/gonzalo/Desktop/unitree_ws/install/go2_robot_sdk/lib/go2_robot_sdk/go2_driver_node", line 25, in importlib_load_entry_point
[go2_driver_node-3]     return next(matches).load()
[go2_driver_node-3]   File "/usr/lib/python3.10/importlib/metadata/__init__.py", line 171, in load
[go2_driver_node-3]     module = import_module(match.group('module'))
[go2_driver_node-3]   File "/usr/lib/python3.10/importlib/__init__.py", line 126, in import_module
[go2_driver_node-3]     return _bootstrap._gcd_import(name[level:], package, level)
[go2_driver_node-3]   File "/home/gonzalo/Desktop/unitree_ws/install/go2_robot_sdk/lib/python3.10/site-packages/go2_robot_sdk/go2_driver_node.py", line 32, in <module>
[go2_driver_node-3]     from cv_bridge import CvBridge
[go2_driver_node-3]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/cv_bridge/__init__.py", line 6, in <module>
[go2_driver_node-3]     from cv_bridge.boost.cv_bridge_boost import cvtColorForDisplay, getCvType
[go2_driver_node-3] AttributeError: _ARRAY_API not found
[go2_driver_node-3] 1730892650.050664 [0] go2_driver: enp2s0: does not match an available interface.
[go2_driver_node-3] [ERROR] [1730892650.050691428] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[go2_driver_node-3] 
[go2_driver_node-3] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[go2_driver_node-3] This error state is being overwritten:
[go2_driver_node-3] 
[go2_driver_node-3]   'error not set, at ./src/rcl/node.c:263'
[go2_driver_node-3] 
[go2_driver_node-3] with this new error message:
[go2_driver_node-3] 
[go2_driver_node-3]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[go2_driver_node-3] 
[go2_driver_node-3] rcutils_reset_error() should be called after error handling to avoid this.
[go2_driver_node-3] <<<
[go2_driver_node-3] [ERROR] [1730892650.050712207] [rcl]: Failed to fini publisher for node: 1
[go2_driver_node-3] Traceback (most recent call last):
[go2_driver_node-3]   File "/home/gonzalo/Desktop/unitree_ws/install/go2_robot_sdk/lib/go2_robot_sdk/go2_driver_node", line 33, in <module>
[go2_driver_node-3]     sys.exit(load_entry_point('go2-robot-sdk==0.0.0', 'console_scripts', 'go2_driver_node')())
[go2_driver_node-3]   File "/home/gonzalo/Desktop/unitree_ws/install/go2_robot_sdk/lib/python3.10/site-packages/go2_robot_sdk/go2_driver_node.py", line 585, in main
[go2_driver_node-3]     asyncio.get_event_loop().run_until_complete(start_node())
[go2_driver_node-3]   File "/usr/lib/python3.10/asyncio/base_events.py", line 649, in run_until_complete
[go2_driver_node-3]     return future.result()
[go2_driver_node-3]   File "/home/gonzalo/Desktop/unitree_ws/install/go2_robot_sdk/lib/python3.10/site-packages/go2_robot_sdk/go2_driver_node.py", line 562, in start_node
[go2_driver_node-3]     base_node = RobotBaseNode()
[go2_driver_node-3]   File "/home/gonzalo/Desktop/unitree_ws/install/go2_robot_sdk/lib/python3.10/site-packages/go2_robot_sdk/go2_driver_node.py", line 65, in __init__
[go2_driver_node-3]     super().__init__('go2_driver_node')
[go2_driver_node-3]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 175, in __init__
[go2_driver_node-3]     self.__node = _rclpy.Node(
[go2_driver_node-3] rclpy._rclpy_pybind11.RCLError: error creating node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[ERROR] [go2_driver_node-3]: process has died [pid 28984, exit code 1, cmd '/home/gonzalo/Desktop/unitree_ws/install/go2_robot_sdk/lib/go2_robot_sdk/go2_driver_node --ros-args --params-file /tmp/launch_params_9x128rzh'].
[lidar_to_pointcloud-4] /usr/lib/python3/dist-packages/scipy/__init__.py:146: UserWarning: A NumPy version >=1.17.3 and <1.25.0 is required for this version of SciPy (detected version 2.1.1
[lidar_to_pointcloud-4]   warnings.warn(f"A NumPy version >={np_minversion} and <{np_maxversion}"
[lidar_to_pointcloud-4] 
[lidar_to_pointcloud-4] A module that was compiled using NumPy 1.x cannot be run in
[lidar_to_pointcloud-4] NumPy 2.1.1 as it may crash. To support both 1.x and 2.x
[lidar_to_pointcloud-4] versions of NumPy, modules must be compiled with NumPy 2.0.
[lidar_to_pointcloud-4] Some module may need to rebuild instead e.g. with 'pybind11>=2.12'.
[lidar_to_pointcloud-4] 
[lidar_to_pointcloud-4] If you are a user of the module, the easiest solution will be to
[lidar_to_pointcloud-4] downgrade to 'numpy<2' or try to upgrade the affected module.
[lidar_to_pointcloud-4] We expect that some modules will need time to support NumPy 2.
[lidar_to_pointcloud-4] 
[lidar_to_pointcloud-4] Traceback (most recent call last):  File "/home/gonzalo/Desktop/unitree_ws/install/go2_robot_sdk/lib/go2_robot_sdk/lidar_to_pointcloud", line 33, in <module>
[lidar_to_pointcloud-4]     sys.exit(load_entry_point('go2-robot-sdk==0.0.0', 'console_scripts', 'lidar_to_pointcloud')())
[lidar_to_pointcloud-4]   File "/home/gonzalo/Desktop/unitree_ws/install/go2_robot_sdk/lib/go2_robot_sdk/lidar_to_pointcloud", line 25, in importlib_load_entry_point
[lidar_to_pointcloud-4]     return next(matches).load()
[lidar_to_pointcloud-4]   File "/usr/lib/python3.10/importlib/metadata/__init__.py", line 171, in load
[lidar_to_pointcloud-4]     module = import_module(match.group('module'))
[lidar_to_pointcloud-4]   File "/usr/lib/python3.10/importlib/__init__.py", line 126, in import_module
[lidar_to_pointcloud-4]     return _bootstrap._gcd_import(name[level:], package, level)
[lidar_to_pointcloud-4]   File "/home/gonzalo/Desktop/unitree_ws/install/go2_robot_sdk/lib/python3.10/site-packages/go2_robot_sdk/lidar_to_point.py", line 30, in <module>
[lidar_to_pointcloud-4]     import open3d as o3d
[lidar_to_pointcloud-4]   File "/home/gonzalo/.local/lib/python3.10/site-packages/open3d/__init__.py", line 146, in <module>
[lidar_to_pointcloud-4]     import open3d.ml
[lidar_to_pointcloud-4]   File "/home/gonzalo/.local/lib/python3.10/site-packages/open3d/ml/__init__.py", line 16, in <module>
[lidar_to_pointcloud-4]     from . import datasets
[lidar_to_pointcloud-4]   File "/home/gonzalo/.local/lib/python3.10/site-packages/open3d/ml/datasets.py", line 15, in <module>
[lidar_to_pointcloud-4]     from open3d._ml3d.datasets import *
[lidar_to_pointcloud-4]   File "/home/gonzalo/.local/lib/python3.10/site-packages/open3d/_ml3d/datasets/__init__.py", line 3, in <module>
[lidar_to_pointcloud-4]     from .semantickitti import SemanticKITTI
[lidar_to_pointcloud-4]   File "/home/gonzalo/.local/lib/python3.10/site-packages/open3d/_ml3d/datasets/semantickitti.py", line 6, in <module>
[lidar_to_pointcloud-4]     from sklearn.neighbors import KDTree
[lidar_to_pointcloud-4]   File "/home/gonzalo/.local/lib/python3.10/site-packages/sklearn/__init__.py", line 84, in <module>
[lidar_to_pointcloud-4]     from .base import clone
[lidar_to_pointcloud-4]   File "/home/gonzalo/.local/lib/python3.10/site-packages/sklearn/base.py", line 19, in <module>
[lidar_to_pointcloud-4]     from .utils._estimator_html_repr import _HTMLDocumentationLinkMixin, estimator_html_repr
[lidar_to_pointcloud-4]   File "/home/gonzalo/.local/lib/python3.10/site-packages/sklearn/utils/__init__.py", line 11, in <module>
[lidar_to_pointcloud-4]     from ._chunking import gen_batches, gen_even_slices
[lidar_to_pointcloud-4]   File "/home/gonzalo/.local/lib/python3.10/site-packages/sklearn/utils/_chunking.py", line 8, in <module>
[lidar_to_pointcloud-4]     from ._param_validation import Interval, validate_params
[lidar_to_pointcloud-4]   File "/home/gonzalo/.local/lib/python3.10/site-packages/sklearn/utils/_param_validation.py", line 11, in <module>
[lidar_to_pointcloud-4]     from scipy.sparse import csr_matrix, issparse
[lidar_to_pointcloud-4]   File "/usr/lib/python3/dist-packages/scipy/sparse/__init__.py", line 267, in <module>
[lidar_to_pointcloud-4]     from ._csr import *
[lidar_to_pointcloud-4]   File "/usr/lib/python3/dist-packages/scipy/sparse/_csr.py", line 10, in <module>
[lidar_to_pointcloud-4]     from ._sparsetools import (csr_tocsc, csr_tobsr, csr_count_blocks,
[lidar_to_pointcloud-4] AttributeError: _ARRAY_API not found
[lidar_to_pointcloud-4] Traceback (most recent call last):
[lidar_to_pointcloud-4]   File "/home/gonzalo/Desktop/unitree_ws/install/go2_robot_sdk/lib/go2_robot_sdk/lidar_to_pointcloud", line 33, in <module>
[lidar_to_pointcloud-4]     sys.exit(load_entry_point('go2-robot-sdk==0.0.0', 'console_scripts', 'lidar_to_pointcloud')())
[lidar_to_pointcloud-4]   File "/home/gonzalo/Desktop/unitree_ws/install/go2_robot_sdk/lib/go2_robot_sdk/lidar_to_pointcloud", line 25, in importlib_load_entry_point
[lidar_to_pointcloud-4]     return next(matches).load()
[lidar_to_pointcloud-4]   File "/usr/lib/python3.10/importlib/metadata/__init__.py", line 171, in load
[lidar_to_pointcloud-4]     module = import_module(match.group('module'))
[lidar_to_pointcloud-4]   File "/usr/lib/python3.10/importlib/__init__.py", line 126, in import_module
[lidar_to_pointcloud-4]     return _bootstrap._gcd_import(name[level:], package, level)
[lidar_to_pointcloud-4]   File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
[lidar_to_pointcloud-4]   File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
[lidar_to_pointcloud-4]   File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
[lidar_to_pointcloud-4]   File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
[lidar_to_pointcloud-4]   File "<frozen importlib._bootstrap_external>", line 883, in exec_module
[lidar_to_pointcloud-4]   File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
[lidar_to_pointcloud-4]   File "/home/gonzalo/Desktop/unitree_ws/install/go2_robot_sdk/lib/python3.10/site-packages/go2_robot_sdk/lidar_to_point.py", line 30, in <module>
[lidar_to_pointcloud-4]     import open3d as o3d
[lidar_to_pointcloud-4]   File "/home/gonzalo/.local/lib/python3.10/site-packages/open3d/__init__.py", line 146, in <module>
[lidar_to_pointcloud-4]     import open3d.ml
[lidar_to_pointcloud-4]   File "/home/gonzalo/.local/lib/python3.10/site-packages/open3d/ml/__init__.py", line 16, in <module>
[lidar_to_pointcloud-4]     from . import datasets
[lidar_to_pointcloud-4]   File "/home/gonzalo/.local/lib/python3.10/site-packages/open3d/ml/datasets.py", line 15, in <module>
[lidar_to_pointcloud-4]     from open3d._ml3d.datasets import *
[lidar_to_pointcloud-4]   File "/home/gonzalo/.local/lib/python3.10/site-packages/open3d/_ml3d/datasets/__init__.py", line 3, in <module>
[lidar_to_pointcloud-4]     from .semantickitti import SemanticKITTI
[lidar_to_pointcloud-4]   File "/home/gonzalo/.local/lib/python3.10/site-packages/open3d/_ml3d/datasets/semantickitti.py", line 6, in <module>
[lidar_to_pointcloud-4]     from sklearn.neighbors import KDTree
[lidar_to_pointcloud-4]   File "/home/gonzalo/.local/lib/python3.10/site-packages/sklearn/__init__.py", line 84, in <module>
[lidar_to_pointcloud-4]     from .base import clone
[lidar_to_pointcloud-4]   File "/home/gonzalo/.local/lib/python3.10/site-packages/sklearn/base.py", line 19, in <module>
[lidar_to_pointcloud-4]     from .utils._estimator_html_repr import _HTMLDocumentationLinkMixin, estimator_html_repr
[lidar_to_pointcloud-4]   File "/home/gonzalo/.local/lib/python3.10/site-packages/sklearn/utils/__init__.py", line 11, in <module>
[lidar_to_pointcloud-4]     from ._chunking import gen_batches, gen_even_slices
[lidar_to_pointcloud-4]   File "/home/gonzalo/.local/lib/python3.10/site-packages/sklearn/utils/_chunking.py", line 8, in <module>
[lidar_to_pointcloud-4]     from ._param_validation import Interval, validate_params
[lidar_to_pointcloud-4]   File "/home/gonzalo/.local/lib/python3.10/site-packages/sklearn/utils/_param_validation.py", line 11, in <module>
[lidar_to_pointcloud-4]     from scipy.sparse import csr_matrix, issparse
[lidar_to_pointcloud-4]   File "/usr/lib/python3/dist-packages/scipy/sparse/__init__.py", line 267, in <module>
[lidar_to_pointcloud-4]     from ._csr import *
[lidar_to_pointcloud-4]   File "/usr/lib/python3/dist-packages/scipy/sparse/_csr.py", line 10, in <module>
[lidar_to_pointcloud-4]     from ._sparsetools import (csr_tocsc, csr_tobsr, csr_count_blocks,
[lidar_to_pointcloud-4] ImportError: numpy.core.multiarray failed to import
[ERROR] [robot_state_publisher-1]: process has died [pid 28980, exit code -6, cmd '/opt/ros/humble/lib/robot_state_publisher/robot_state_publisher /home/gonzalo/Desktop/unitree_ws/install/go2_robot_sdk/share/go2_robot_sdk/urdf/go2.urdf --ros-args -r __node:=robot_state_publisher --params-file /tmp/launch_params_63l1t72v'].
[ERROR] [lidar_to_pointcloud-4]: process has died [pid 28986, exit code 1, cmd '/home/gonzalo/Desktop/unitree_ws/install/go2_robot_sdk/lib/go2_robot_sdk/lidar_to_pointcloud --ros-args --params-file /tmp/launch_params_oqk8tjj9'].
[ERROR] [pointcloud_to_laserscan_node-2]: process has died [pid 28982, exit code -6, cmd '/opt/ros/humble/lib/pointcloud_to_laserscan/pointcloud_to_laserscan_node --ros-args -r __node:=pointcloud_to_laserscan --params-file /tmp/launch_params_zos85fxz -r cloud_in:=point_cloud2 -r scan:=scan'].
[ERROR] [twist_mux-8]: process has died [pid 28994, exit code -6, cmd '/opt/ros/humble/lib/twist_mux/twist_mux --ros-args --params-file /tmp/launch_params_zvpt34j3 --params-file /home/gonzalo/Desktop/unitree_ws/install/go2_robot_sdk/share/go2_robot_sdk/config/twist_mux.yaml'].
[ERROR] [smoother_server-12]: process has died [pid 29006, exit code -6, cmd '/opt/ros/humble/lib/nav2_smoother/smoother_server --ros-args --log-level info --ros-args -r __node:=smoother_server --params-file /tmp/launch_params_7rzw1s1_ -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [controller_server-11]: process has died [pid 29004, exit code -6, cmd '/opt/ros/humble/lib/nav2_controller/controller_server --ros-args --log-level info --ros-args --params-file /tmp/launch_params_7rzw1s1_ -r /tf:=tf -r /tf_static:=tf_static -r cmd_vel:=cmd_vel_nav'].
[ERROR] [teleop_node-7]: process has died [pid 28992, exit code -6, cmd '/opt/ros/humble/lib/teleop_twist_joy/teleop_node --ros-args -r __node:=teleop_node --params-file /home/gonzalo/Desktop/unitree_ws/install/go2_robot_sdk/share/go2_robot_sdk/config/twist_mux.yaml'].
[ERROR] [joy_node-6]: process has died [pid 28990, exit code -6, cmd '/opt/ros/humble/lib/joy/joy_node --ros-args --params-file /home/gonzalo/Desktop/unitree_ws/install/go2_robot_sdk/share/go2_robot_sdk/config/joystick.yaml'].
[ERROR] [foxglove_bridge-9]: process has died [pid 29000, exit code -6, cmd '/opt/ros/humble/lib/foxglove_bridge/foxglove_bridge --ros-args --params-file /tmp/launch_params_pqeya4rw --params-file /tmp/launch_params_jickb_hv --params-file /tmp/launch_params_8z6c9cx5 --params-file /tmp/launch_params_nmdgh3su --params-file /tmp/launch_params_ibqbdn_h --params-file /tmp/launch_params_2sxoty89 --params-file /tmp/launch_params_17zr95oa --params-file /tmp/launch_params_xrubscny --params-file /tmp/launch_params_gdmda5bg --params-file /tmp/launch_params_rtns0q0p --params-file /tmp/launch_params_7r1ulicp --params-file /tmp/launch_params_xvo5qfv3 --params-file /tmp/launch_params_jhchxnmc --params-file /tmp/launch_params_iwkkj2vr --params-file /tmp/launch_params_0cs_0_3t --params-file /tmp/launch_params_8cm4vozp --params-file /tmp/launch_params_8tz7pwy4'].
[ERROR] [async_slam_toolbox_node-10]: process has died [pid 29002, exit code -6, cmd '/opt/ros/humble/lib/slam_toolbox/async_slam_toolbox_node --ros-args -r __node:=slam_toolbox --params-file /home/gonzalo/Desktop/unitree_ws/install/go2_robot_sdk/share/go2_robot_sdk/config/mapper_params_online_async.yaml --params-file /tmp/launch_params_i6l3h9m9'].
[ERROR] [planner_server-13]: process has died [pid 29009, exit code -6, cmd '/opt/ros/humble/lib/nav2_planner/planner_server --ros-args --log-level info --ros-args -r __node:=planner_server --params-file /tmp/launch_params_7rzw1s1_ -r /tf:=tf -r /tf_static:=tf_static'].```

[smarnav2904]

Nevermind, using a new computer with a clean installation fixed the problem.