Unitree Document and SDK Collection

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Tutorial list

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1. Run Program on GO2W for Real-World Tests

Integration with CMU NAV Stack

The package in this repo rpl-unitree-ros in the software folder starts work on integrating the nav stack. See the README in that repo for more details here

2. Other Available Softwares

❗ It should noted that Go2 only supports ROS2, while most of packages in RPL-RoboHike is are in ROS1. To avoid conflict between ROS1 and ROS2, please create another ROS2_ws and clone related packages in this workspace.

2.1 Unitree Document - link

NOTE by Jianhao:

• If you only care about navigation, you can skip Application Development and Software Interface Services and turn 2.2 for software.
• If you care about low-level control, you can goto Case reference for the interface

2.2 CMU navigation stack - link

mkdir -p ~/ros2_ws/src
git clone https://github.com/jizhang-cmu/autonomy_stack_go2.git

You can try this if you want to deploy navigation on the robot (in the unity environment). Please follow this README to continue your installation.

2.3 Unitree GO2 Robot ROS2 - link

You can try this if you want to setup the realsense and LiDAR on the real-world robot, and change the movement configuration.

2.4 Unitree Omniversal - link

You can try this if you want to use the Nvidia Issac Sim with the robot.

2.5 Unitree Gazebo Simulation - Link

You can try this if you want to use the Gazebo Simulation with the robot (has been tested).