Introduction

By default, Unitree runs a list of software at start-up to enable the functionalities that are mainly needed by its mobile apps. However, these software also block custom software from accessing the hardware. Therefore, it is useful to disable these start-up routines.

How-to

Disable individual items

The start script in each PC can be found in ~/Unitree/ folder. You can edit the ~/Unitree/.startlist.sh file to disable any single software by adding a # in front. For example, to disable the camera and human recognition software:

$cat ~/Unitree/autostart/.startlist.sh
updateDependencies
ipconfig
#gencamparams
#camerarosnode
#03persontrack
#imageai
faceLightServer
slamDetector
wsaudio
faceLightMqtt

Disable everything

If you want to disable everything all together, you may edit the ~/.config/autostart/auto.desktop file, and set X-GNOME-Autostart-enabled=false:

$cat ~/.config/autostart/auto.desktop 
[Desktop Entry]
Type=Application
Exec=~/Unitree/autostart/update.sh
Hidden=false
NoDisplay=false
X-GNOME-Autostart-enabled=false
Name[en_US]=auto
Name=auto
Comment[en_US]=sdf
Comment=sdf

Warning: Doing this also disables the Unitree multi-PC network configuration. You can take a look at the ~/Unitree/autostart/update.sh to see if this is really what you want.

Disable SLAM

The SLAM software is automatically started by the ~/.config/autostart/UnitreeSLAM.desktop file. To disable SLAM, simply edit this file to set X-GNOME-Autostart-enabled=false.