AMIGO ROS2 Humble

AMIGO (Autonomous Machine for Inspecting Gas and Operations) is a ROS2 Humble-based robotic system developed by the Engineering Physics Propulsion Lab (EPPL) at Embry-Riddle Aeronautical University. Leveraging Unitree’s Go2 quadruped robot, AMIGO provides autonomous navigation and inspection workflows for industrial environments.

Requirements and Background

This repository contains the software stack for running AMIGO on ROS2 Humble. The current primary camera is a ZED X Mini, but the launch files and URDF can be adapted for Intel RealSense cameras if desired.

Hardware (current reference build)

• Jetson AGX Orin (JetPack 6.1) or Ubuntu 22.04 x86_64
• Unitree Go2
• ZED X Mini (primary camera) or Intel RealSense D435i/D455 (alternate)
• RPLiDAR A3 (or compatible RPLiDAR)
• GPS receiver (u-blox ZED-F9R tested)
• Network access for package installs

Workspace layout

• src/go2_bringup: launch files for mapping, navigation, GPS
• src/go2_description: URDF, RViz configs, navigation and localization configs
• src/go2_control: logging, navigation scripts, GPS helpers
• src/zed-ros2-wrapper: ZED ROS2 wrapper (requires ZED SDK)
• qtquick_test/qtquick_test-main: QtQuick monitoring UI

Setup

Install ROS2 Humble

Follow the official ROS2 Humble install guide for Ubuntu 22.04. For Jetson, ensure JetPack 6.1 is installed first.

Clone the repository

mkdir -p ~/workspaces
cd ~/workspaces
git clone --recurse-submodules https://github.com/eppl-erau-db/amigo_ros2.git
cd amigo_ros2
git submodule update --init --recursive

Install dependencies

sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r -y

ZED SDK (if using ZED)

Install the Stereolabs ZED SDK before building so zed-ros2-wrapper can compile. Follow the Stereolabs installation guide for your platform.

Build the workspace

source /opt/ros/humble/setup.bash
colcon build --symlink-install

Source the environment

source /opt/ros/humble/setup.bash
source install/setup.bash

Camera selection

ZED (default)

The default URDF and mapping launch files assume a ZED camera and include the ZED macro in src/go2_description/urdf/go2.urdf.xacro. Ensure the ZED SDK is installed and the zed-ros2-wrapper package builds successfully.

RealSense (alternative)

To use RealSense cameras:

1. Install the Intel RealSense ROS2 wrapper (realsense-ros).
2. Update src/go2_description/urdf/go2.urdf.xacro to replace the ZED macro with the RealSense URDF macro.
3. Update the launch files in src/go2_bringup/launch to start the RealSense driver and remap any camera topics as needed.

Mapping and pose logging

Mapping

ros2 launch go2_bringup mapping.launch.py

Pose logging

• Log a normal navigation pose:

ros2 action send_goal /log_pose go2_interfaces/action/LogPose "{task_type: 'normal'}"

• Log a task pose:

```bash

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