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robonix.robot.unitree.go2

Safe Robonix deployment for Unitree Go2 with mapping, semantic navigation and read-only UI.

README

Robonix deployment for Unitree Go2

This repository adapts a Unitree Go2 to Robonix and Nav2 using only the high-level Unitree Sport service. It standardizes chassis odometry, IMU, onboard lidar and video; supplies the Go2 model/TF tree; configures RTAB-Map and Nav2; maps Chinese semantic landmark names to verified map poses; and provides a read-only browser dashboard.

All non-DDS control/capability/audio/dashboard listeners are loopback-only. The Scene debug UI and Mapping administration UI are disabled; remote viewing uses an authenticated SSH tunnel.

The first supported task is:

“走到前面自动售货机那里”

The production path is:

Chinese speech -> Robonix ASR/Liaison/Pilot
-> semantic_navigation.navigate_landmark("自动售货机")
-> verified pose in the active saved map
-> Robonix navigation service -> Nav2 NavigateToPose
-> guarded /cmd_vel -> Go2 chassis adapter -> Unitree SportClient

Motion is off by default and boot never arms the chassis. No posture or low-level motor API is implemented. Read docs/SAFETY.md before connecting hardware.

Clone and inspect safely

git clone --recursive https://github.com/syswonder/robot-unitree-go2.git
cd robot-unitree-go2
git submodule update --init --recursive
./scripts/validate_offline.sh

The validation command is offline: it does not initialize ROS/DDS, start a Unitree SDK client or contact hardware. See known upstream and commissioning limits before attempting a build or boot.

What is ready without hardware

  • Deployment/Catalog manifests and Soma robot model.
  • Pinned official unitree_ros2 and unitree_sdk2 git submodules; Unitree motion examples are never built or run by this repository.
  • Official Go2 model assets with a base_link navigation root.
  • Fail-closed chassis and sensor adapters with process isolation.
  • Conservative RTAB-Map/Nav2 configuration and non-spinning recovery tree.
  • Deterministic Chinese landmark resolver and exact-phrase tests.
  • Read-only UI for image, lidar, map, pose, odometry and task state.
  • Static and offline unit tests; no test publishes a velocity command.

Hardware-dependent gates

The operator must identify the dedicated wired NIC, verify the real Go2 topic names/QoS/frames, measure sensor extrinsics, create/load the laboratory map, and save a verified approach pose in config/semantic_landmarks.local.yaml, including the exact (map_id, generation) from the mapping lifecycle while it is in localization mode. Until those checks pass, semantic navigation rejects the target and motion remains disarmed.

See docs/HARDWARE_CHECKLIST.md for the exact operator steps and docs/DEPLOYMENT.md for build/start commands.

Licenses

Integration code is Apache-2.0. The aggregate deployment also redistributes BSD-3-Clause Unitree code/model assets, MIT dependencies and the private CycloneDDS runtime under EPL-2.0 OR EDL-1.0. See NOTICE, THIRD_PARTY.md, and the authoritative license files retained in the pinned submodules.