Unitree-Go2 Robot: SLAM and Nav2 Demos

By: Hossein Naderi

Welcome to the Unitree-Go2 Robot SLAM and Nav2 repository! This project demonstrates the integration of SLAM (Simultaneous Localization and Mapping) and autonomous navigation using Nav2 on the Unitree-Go2 robot. The repository includes demonstration videos, source code, and comprehensive documentation to assist in replicating and building upon the showcased capabilities.​:contentReference[oaicite:0]{index=0}

Table of Contents

1. Overview
2. Demo Videos
3. Project Structure
4. Workspace Setup
5. Launch Files
6. Detailed Project Explanations

Overview

• Robot Platform: Unitree-Go2
• SLAM: ROS 2 RTAB-Map
• Navigation: ROS 2 Nav2

Key Features

• Real-time mapping in indoor and outdoor environments
• Obstacle avoidance using Nav2 and sensor data
• Sensor fusion combining RGB Depth Camera with LiDAR point cloud
• Autonomous path planning to specified goals
• Facial recognition capabilities for identifying individuals during navigation

Demo Videos

1. SLAM Demo Video
   Demonstration of integrated SLAM with Unitree-Go2 using RTAB-Map in ROS2.

   

2. Autonomous Navigation Demo Video
   Demonstration of integrated Autonomous Navigation with Unitree-Go2 using Nav2 Stack in ROS2.

   

Dependencies

• Unitree SDK: https://github.com/unitreerobotics/unitree_ros2
• LiDAR SDK: https://github.com/RoboSense-LiDAR/rslidar_sdk
• LiDAR Messages: https://github.com/RoboSense-LiDAR/rslidar_msg

Workspace Setup

1. Create your workspace:

   mkdir -p ~/ws/src
   cd ~/ws/src
   

1. Clone this repository:

   git clone https://github.com/h-naderi/unitree-go2-slam-nav2.git

   

1. Navigate to the repository:

   cd unitree-go2-slam-nav2
   

1. Import dependencies using vcs:

   vcs import < dependencies.repo
   

1. Install dependencies and build the workspace:

   cd ~/ws
   rosdep install --from-paths src --ignore-src -r -y
   colcon build
   

1. Source the workspace:

   source ~/ws/install/setup.bash
   

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