This repository maintains our scripts facilitating hardware-software developments of mobile applications onboard the unitree go2 robot.
under the folder go2_keyboard_control, you can find scripts that let you control the robot with keyboards, by connecting to the robot using wifi. We use ZMQ to bypass the ROS2 network issues.
under the folder go2_lidar_rgbd_setup, you can find general instructions on how to install NVIDIA Jetson Orin AGX on the robot and how to setup a Realsense RGBD camera as well as a Livox MID360 Lidar on-board.
This setting can be scaled up for multi-robot appplications. One example is our work on VLM-guided cooperative semantic navigation, for which we also provide instructions for time-synchronization of ROS messages between the robots.
Maintainers:
Qihao Yuan (Email: [email protected])
Ziyu Cao (Email: [email protected])
Kailai Li (Email: [email protected])