Pushes the Unitree Go2's live status to the YS Lootah fleet server. Sibling of sanad_api_r1; deploy it with the fleet installer (../../fleet_install.sh).

POST {SERVER_URL}/api/v1/fleet/ingest/telemetry        Authorization: Bearer <device_token>
{ "sn":"go2_0000", "mac":"…", "battery":74, "charging":false,
  "status":"idle", "position":{"x":…,"y":…}|null, "faults":[], "ts":… }

Sent every ~2 s; a heartbeat (battery:null, status:offline) when DDS is silent so the robot stays online.

Data sources (Go2, `unitree_go` DDS)

field	source
`battery`, `charging`	`rt/lowstate.bms_state` (nested — Go2 has no separate BMS topic): `soc` 0–100; charging from `current` sign
`faults[]`	`rt/lowstate` motor temps + staleness
`status`	derived (charging / moving / idle / offline)
`position`	optional: `sportmode` (`rt/lf/sportmodestate`) or `rosbridge` (`/odom`) — default off
`mac`	primary NIC

Safety: read-only — never commands motion.

Run / test

../../fleet_install.sh install go2 <ip> --sn go2_<id>
../../fleet_install.sh data    go2 <ip>
# bare simulate (no robot):
SERVER_URL=… DEVICE_TOKEN=… SN=go2_0 python3 sanad_api_go2.py --simulate -v

Build on the Go2 compute (arm64); bundles CycloneDDS + the vendored unitree_sdk2py wheel (vendor/). network_mode: host for DDS.

⚠️ UNVERIFIED ON HARDWARE. Written from the unitree_go SDK layout but not yet run on a real Go2. Confirm the bms_state current sign (charging polarity) and the sportmodestate fields on the robot. Verified so far: image builds, unitree_go imports, simulate/heartbeat payloads correct.

README.md Unescape Escape

sanad_api_go2 — Go2 fleet telemetry agent

Data sources (Go2, unitree_go DDS)

Run / test

README.md

Data sources (Go2, `unitree_go` DDS)