ROS2 Navigation for Unitree GO2.

Author: Sayantani Bhattacharya

This is a standalone package, that has code and launch files for manual navigation operation on Unitree GO2.

Using:

• Unitree Go2 in high level mode wrapper over Unitree's SDK
• ROS2 Jazzy
• RTAB-Map
• Nav2 stack.

Features:

Package Name: unitree_go2_nav

• Transform publishers.
• Robot State publishers.
• Rtabmap pkgs generating odom tf and occupancy grid using GO2's 4d Lidar.
• Rviz visulaizations with modified URDF.
• Nav-to-pose to enable high level control with the GO2's APIs.
• Nav2 based manual goal subscription.

Setup

1. mkdir src && cd src
   git clone [email protected]:Sayantani-Bhattacharya/unitree_go2_nav.git
   cd unitree_go2_nav
   

2. Pull the Unitree SDK Wrapper submodule.

   cd unitree_ros2       
   git clone [email protected]:Sayantani-Bhattacharya/unitree_ros2.git
   

3. Follow the setup and build instructions mentioned in the unitree_ros2 package ReadMe. This will get you connected to the real Robot.

4. cd ../
   source /opt/ros/jazzy/setup.bash
   colcon build
   source install/setup.bash
   

Directions:

1. Complete the above setup.

2. Verfiy that unitree topics are visible in your current workspace.

   ros2 topic list
   

3. For mapping:

    ros2 launch unitree_go2_nav mapping.launch.py
   

   For the map to be generated initally, the robot needs to move a bit.

4. For navigation and mapping:
   
   Terminal 1:

   ros2 launch unitree_go2_nav navigation.launch.py
   

   Terminal 2:

   cd unitree_ros
   source /opt/ros/jazzy/setup.bash
   source install/setup.bash
   ./install/unitree_ros2_example/bin/high_level_ctrl
   

   This will start Rviz, where you can use the 2D goal pose UI button to give GO2 commands. Or, you can publish ros2 topic as well.

Known issues, that I am currently working on:

• Modifing the URDF joint states to make it similar to the real robot.

For developing autonomy packages with this as a base package:

Add this to your repository as a submodule

  git submodule add [email protected]:Sayantani-Bhattacharya/unitree_go2_nav.git 
  git submodule update --init --recursive 
  git commit -m "Added submodule unitree_go2_nav" 
  git push origin main 

For reference: https://github.com/Sayantani-Bhattacharya/Multi-Hetero-Agent-Exploration-on-UnitreeGOs/tree/go2_auto_nav