Unitree SDK Beta Release

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What’s included

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Features

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v1.0.0-beta.3

• The Docker image and repository have been renamed to unitree_sdk, reflecting the unified SDK architecture and simplifying deployment workflows.
• Smart Auto-Charging System
  • The robot now supports AprilTag-based visual docking integrated with Nav2 navigation.
  • When the robot requires charging, it autonomously navigates to the charging station’s vicinity using the Nav2 stack.
  • Upon reaching the target area, it switches to precision docking mode, using onboard cameras to detect AprilTags mounted near or on the charging dock.
  • This hybrid approach ensures robust and accurate alignment for seamless autonomous charging.
• The CYCLONE_INTERFACE has been renamed to CYCLONEDDS_INTERFACE for consistency with the underlying communication standard.
• New Remote Control Feature Added the ability to remotely control the robot, enabling manual operation for testing, navigation overrides, and precision movement in complex environments.
• We added monitoring to WatchSensor for audio RTSP.
• Reorganized the orchestrator package by splitting core logic, API, and cloud nodes into ‘core’, HTTP/ROS handlers into ‘handlers’, and process, map, location, and charging logic into ‘managers’. Added new service and utility modules, moved WebSocket clients/servers to ‘utils’, and updated imports accordingly. This modular structure improves maintainability, separation of concerns, and scalability for future development.
• Users can now enable or disable TTS mode directly from the web portal for greater flexibility in communication and operation.
• New topics have been added for fetching, enabling, and disabling AI mode, allowing dynamic AI state management via ROS or other interfaces.
• Agile mode of the robot is unstable due to the payload on its back. Operate in Classic Mode for optimal stability and performance is recommended.

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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

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