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What’s included

Beta release for the Docker image openmindagi/unitree_go2_sdk, which provides the full ROS2 system for running the Unitree Go2 SDK.

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Features

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v1.0.0-beta.2

  • Added CRSF Protocol Support
  • Added turbo mode for the xbox controller
  • Added listening and scouting configuration to zenoh_bridge_config for disabling multicast to prevent receiving messages from other robots
  • Introduced Pydantic models for location and pose data
  • New endpoints to add and list map locations, and ensure locations are stored in a dedicated directory.
  • docker-compose is updated to mount a new ‘locations’ volume. Also extended the orchestrator API to handle ‘add_location’ and ‘list_locations’ actions.
  • Added MediaMTX watcher: MediaMTX is a zero-dependency media server and proxy used to publish, read, proxy, record, and playback live video and audio streams. It serves as a central “media router,” handling multiple streaming protocols like RTSP, WebRTC, RTMP, and HLS.

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v1.0.0-beta.1

  • Real-time SLAM: Simultaneous localization and mapping using SLAM Toolbox
  • RPLiDAR Integration: Support for RPLiDAR A1/A2/A3 series sensors
  • Navigation: Integration with Nav2 for autonomous navigation
  • Robot Control: Direct integration with Unitree Go2 movement commands
  • Visualization: Pre-configured RViz setup for monitoring
  • Transform Management: Automatic handling of coordinate frame transforms

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Component Overview

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Watchdog

  • Monitors ROS2 topics and sensor health.
  • Automatically restarts om1_sensor if any topics or sensors stop publishing data.
  • Ensures system stability during long-running sessions.

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om1_sensor

  • Manages all low-level sensor drivers:
    • Intel RealSense D435 (depth camera)
    • RPLidar (LiDAR scanning)
  • Publishes ROS2 topics for system consumption:
    • /om/paths — Processed path and localization data
    • /scan — Raw LiDAR scan data

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Orchestrator

  • Provides API endpoints and cloud service integration.
  • Manages:
    • SLAM (Simultaneous Localization and Mapping)
    • Navigation (Nav2)
    • Map storage and loading
  • Allows interaction via REST APIs.

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Docker image

The unitree_sdk is provided as a Docker image for easy setup. 
git clone https://github.com/OpenMind/unitree-sdk.git

cd unitree_sdk
docker-compose up orchestrator -d --no-build
docker-compose up om1_sensor -d --no-build
docker-compose up watchdog -d --no-build
The docker image is also available at Docker Hub. For more technical details, please refer to the docs.