ROS2 setup

ROS2 was set up on the Unitree Go1 by cloning and following the instructions for this repository.

ROS2 Packages

go1_description

Holds all the models for visualizing the Unitree Go1 in RViz

ros2_unitree_legged_msgs

Messages and services for controlling Unitree Go1

unitree_exploration

Frontier Exploration with the Unitree Go1. Takes in the map, finds frontiers and commands 2-D goal poses to the Nav Stack accordingly.

unitree_kinematics

Library for kinematic calculations for controlling the Go1.

unitree_legged_real

Various nodes for controlling the Go1 and launchfiles for Zed 2i camera nodes.

Author: Aditya Nair