Welcome to the Unitree Go2 ROS2 SDK Project!

We are happy to present you our integration of the Unitree Go2 with ROS2 over Wi-Fi, that was designed by the talented @tfoldi. You can explore his groundbreaking work at go2-webrtc.

This repo will empower your Unitree GO2 AIR/PRO/EDU robots with ROS2 capabilities, using both WebRTC (Wi-Fi) and CycloneDDS (Ethernet) protocols.

If you are using WebRTC (Wi-Fi) protocol, close the connection with a mobile app before connecting to the robot.

Project RoadMap:

1. URDF :white_check_mark:
2. Joint states sync in real time :white_check_mark:
3. IMU sync in real time :white_check_mark:
4. Joystick control in real time :white_check_mark:
5. Go2 topics info in real time :white_check_mark:
6. Foot force sensors info in real time :white_check_mark:
7. Lidar stream (added pointCloud2) :white_check_mark:
8. Camera stream :white_check_mark:
9. Foxglove bridge :white_check_mark:
10. Laser Scan :white_check_mark:
11. Multi robot support :white_check_mark:
12. WebRTC and CycloneDDS support :white_check_mark:
13. Creating a PointCloud map and store it :white_check_mark:
14. SLAM (slam_toolbox) :white_check_mark:
15. Navigation (nav2) :white_check_mark:
16. Object detection (coco) :white_check_mark:
17. AutoPilot

Your feedback and support mean the world to us.

If you’re as enthusiastic about this project as we are, please consider giving it a :star: star!!!

Your encouragement fuels our passion and helps us develop our RoadMap further. We welcome any help or suggestions you can offer!

Together, let’s push the boundaries of what’s possible with the Unitree Go2 and ROS2!

Exciting Features:

:sparkles: Full ROS2 SDK support for your Unitree GO2

:robot: Compatible with AIR, PRO, and EDU variants

:footprints: Access to foot force sensors feedback (available on some GO2 PRO models or EDU)

Real time Go2 Air/PRO/EDU joints sync:

Go2 Air/PRO/EDU lidar point cloud:

System requirements

Tested systems and ROS2 distro |systems|ROS2 distro|Build status |–|–|–| |Ubuntu 22.04|iron| |Ubuntu 22.04|humble| |Ubuntu 22.04|rolling|

Installation

mkdir -p ros2_ws
cd ros2_ws
git clone --recurse-submodules https://github.com/abizovnuralem/go2_ros2_sdk.git src
sudo apt install ros-$ROS_DISTRO-image-tools
sudo apt install ros-$ROS_DISTRO-vision-msgs

sudo apt install python3-pip clang portaudio19-dev
cd src
pip install -r requirements.txt
cd ..

Pay attention to any error messages. If pip install does not complete cleanly, various features will not work. For example, open3d does not yet support python3.12 and therefore you will need to set up a 3.11 venv first etc.

Build go2_ros_sdk. You need to have ros2 and rosdep installed. If you do not, follow these instructions. Then:

source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build

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