[Bug]: The Go2 WebRTC secondary development interface cannot be obtained.

Description

(dimos) joker@riverjwhu-LB0:~/Projects/dimos$ dimos run unitree-go2
12:27:37.865[inf][dimos/robot/cli/dimos.py ] Starting DimOS
12:27:38.620[inf][dimos/core/blueprints.py ] Building the blueprint
12:27:38.692[inf][dimos/core/blueprints.py ] Starting the modules
12:27:38.732[inf][dimos/core/worker_manager.py ] Worker pool started. n_workers=7
12:27:42.188[inf][dimos/mapping/voxels.py ] VoxelGridMapper using device: CUDA:0
12:27:42.223[inf][dimos/core/worker.py ] Deployed module. module=ReplanningAStarPlanner module_id=5 worker_id=5
12:27:42.303[inf][dimos/core/worker.py ] Deployed module. module=WavefrontFrontierExplorer module_id=6 worker_id=6
12:27:42.339[inf][dimos/core/worker.py ] Deployed module. module=VoxelGridMapper module_id=3 worker_id=3
12:27:42.369[inf][et_vis/websocket_vis_module.py] WebSocket visualization module initialized on port 7779, GPS goal tracking enabled
12:27:42.370[inf][dimos/core/worker.py ] Deployed module. module=WebsocketVisModule module_id=2 worker_id=2
12:27:42.387[inf][dimos/core/worker.py ] Deployed module. module=CostMapper module_id=4 worker_id=4
🕒 WebRTC connection : 🟡 started (20:27:42)
Decoder set to: LibVoxelDecoder
🕒 Signaling State : 🟡 have-local-offer (20:27:42)
🕒 ICE Gathering State : 🟡 gathering (20:27:42)
🕒 ICE Gathering State : 🟢 complete (20:27:42)
ERROR:root:An error occurred: HTTPConnectionPool(host='192.168.43.20', port=8081): Max retries exceeded with url: /offer (Caused by NewConnectionError("HTTPConnection(host='192.168.43.20', port=8081): Failed to establish a new connection: [Errno 111] Connection refused"))
ERROR:root:An error occurred with the old method: Failed to receive SDP Answer: No response
ERROR:root:An error occurred: HTTPConnectionPool(host='192.168.43.20', port=9991): Max retries exceeded with url: /con_notify (Caused by NewConnectionError("HTTPConnection(host='192.168.43.20', port=9991): Failed to establish a new connection: [Errno 111] Connection refused"))
ERROR:root:An error occurred with the new method: Failed to receive initial public key response.
Could not get SDP from the peer. Check if the Go2 is switched on
12:27:42.811[inf][dimos/core/worker.py ] Deployed module. module=RerunBridgeModule module_id=0 worker_id=0

Steps to Reproduce

export ROBOT_IP=<YOUR_GO2_IP>
dimos run unitree-go2

Logs / Error Output

Commit Hash

a035fb315

Operating system

Ubuntu22.04

Robot Model

Other (specify below)

Firmware Version

No response

Additional Context

Go2 edu

Start at dimos/robot/cli/dimos.py, where the dimos run unitree-go2 entry point starts WebRTC, and trace how the Go2 signaling request is made. Check the ROBOT_IP connection and the peer services at ports 8081 and 9991; done means the secondary WebRTC interface obtains an SDP response and connects successfully.