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Unofficial ROS2 SDK support for Unitree GO2 AIR/PRO/EDU
| Date | Stars |
|---|---|
| 2026-07-24 | 992 |
| 2026-07-25 | 992 |
| 2026-07-28 | 992 |
| 2026-07-30 | 992 |
| 2026-08-06 | 992 |
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 # Welcome to the Unitree Go2 ROS2 SDK Project! > [!IMPORTANT] > I hadn’t updated this repository in a long time, and a lot of changes accumulated, making the project somewhat messy. I’ve finally found time to refactor everything using Clean Architecture principles. Previously, the LiDAR stream ran at around 2 Hz; it now updates at 7 Hz. However, joint states still arrive at 1 Hz, so you may notice some URDF update lag—that’s expected with the new firmware (v1.1.7). We’ll need to find a workaround for that. [](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html) [](https://docs.python.org/3/whatsnew/3.10.html) [](https://releases.ubuntu.com/22.04/) [](https://www.microsoft.com/en-us/)  [](https://opensource.org/licenses/BSD-2-Clause) We are happy to present you our integration of the Unitree Go2 with ROS2 over Wi-Fi, that was designed by the talented [@tfoldi](https://github.com/tfoldi). You can explore his groundbreaking work at [go2-webrtc](https://github.com/tfoldi/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: 6. Go2 topics info in real time :white_check_mark: 7. Foot force sensors info in real time :white_check_mark: 8. Lidar stream (added pointCloud2) :white_check_mark: 9. Camera stream :white_check_mark: 10. Foxglove bridge :white_check_mark: 11. Laser Scan :white_check_mark: 12. Multi robot support :white_check_mark: 13. WebRTC and CycloneDDS support :white_check_mark: 14. Creating a PointCloud map and store it :white_check_mark: 15. SLAM (slam_toolbox) :white_check_mark: 16. Navigation (nav2) :white_check_mark: 17. Object detection (coco) :white_check_mark: 18. 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: <p align="center"> <img width="1280" height="640" src="https://github.com/abizovnuralem/go2_ros2_sdk/assets/33475993/bf3f5a83-f02b-4c78-a7a1-b379ce057492" alt='Go2 joints sync'> </p> ## Go2 Air/PRO/EDU lidar point cloud: <p align="center"> <img width="1280" height="640" src="https://github.com/abizovnuralem/go2_ros2_sdk/assets/33475993/9c1c3826-f875-4da1-a650-747044e748e1" alt='Go2 point cloud'> </p> ## System requirements Tested systems and ROS2 distro |systems|ROS2 distro|Build status |--|--|--| |Ubuntu 22.04|iron| |Ubuntu 22.04|humble|
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Would you bet a product on this? Bounded 0–100 and slow moving.
matched fp:19346f25c65de313, topic:ros, topic:ros2, readme:slam