OM1 ROS2 SDK

v1.0.1-beta.1

What's included

Beta release for the Docker image openmindagi/om1_ros2_sdk, which provides the full ROS2 system for running the Unitree Go2, G1 and Limx Tron SDK.

Features

v1.0.1-beta.1

• Support for the LimX Tron robot model, enabling advanced robotics applications with enhanced capabilities.

• The Docker image and repository have been renamed back to om1-ros2-sdk for consistency with other OM1 components.

• Restructure of the codebase to support multiple robot models with a unified architecture, allowing for easier expansion and maintenance.

• Improved configuration management, enabling users to easily switch between different robot models and customize settings.

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.

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.

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

Component Overview

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.

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

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.

Zenoh Bridge

zenoh_bridge acts as a bridge between OM1 and OM1_sensor to publish and subscribe to/from ROS2 topics.

Docker image

The OM1-ros2-sdk is provided as a Docker image for easy setup.

git clone https://github.com/OpenMind/OM1-ros2-sdk.git

cd OM1-ros2-sdk
docker-compose up orchestrator -d --no-build
docker-compose up om1_sensor -d --no-build
docker-compose up watchdog -d --no-build
docker-compose up zenoh_bridge -d --no-build

The docker image is also available at Docker Hub.

For more technical details, please refer to the docs.