OM1 ROS2 SDK

A ROS 2 package that provides SLAM (Simultaneous Localization and Mapping) capabilities for Unitree Go2, Unitree G1, and Tron robots using an RPLiDAR sensor, the SLAM Toolbox and the Nav2 stack.

Overview

This package integrates:

• RPLiDAR for laser scanning
• SLAM Toolbox for mapping and localization
• Nav2 for autonomous navigation
• Gazebo Simulation for supported robot platforms

Features

• 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
• Multi-Robot Support: Compatible with Unitree Go2, Unitree G1, and Tron robots
• Visualization: Pre-configured RViz setup for monitoring
• Auto Charging: AprilTag-based visual docking combined with Nav2 navigation
• 3D SLAM Map: Builds a 3D SLAM map to help the robot navigate
• Gazebo Simulation: Simulator environment for supported platforms

Supported Robots

• Unitree Go2 - Unitree Go2 with full SLAM and navigation support
• Unitree G1 - Unitree G1 with full SLAM and navigation support
• Tron - LimX Tron with basic object avoidance support

Prerequisites

• ROS 2 Humble
• Python 3.10+
• RPLiDAR connected via USB (typically /dev/ttyUSB0)
• Intel D435i camera

Note

For getting the best experience, we recommend using OpenMind Brainpack with the robots.

Quick Start

1. Clone the repository

cd ~/ros2_ws/src
git clone https://github.com/OpenMind/OM1-ros2-sdk.git

2. Install dependencies

cd ~/ros2_ws
rosdep install --from-paths . --ignore-src -r -y
pip install -e .

3. Build the workspace

colcon build
source install/setup.bash

4. Launch SLAM

For detailed setup instructions for each robot, see the robot-specific guides linked above.

Quick example for Unitree Go2:

# Launch sensor nodes
ros2 launch go2_sdk sensor_launch.py

# Launch SLAM system
ros2 launch go2_sdk slam_launch.py

Documentation

Robot-Specific Guides

• Unitree Go2 Setup - Hardware setup, installation, and usage for Go2
• Unitree G1 Setup - Hardware setup, installation, and usage for G1
• Tron Setup - Hardware setup, installation, and usage for Tron

Additional Documentation

• REST API Documentation - Complete API reference for remote control
• Production Deployment - Docker deployment and production setup
• Gazebo Simulation - Simulation environment setup and usage

Contributing

Contributions are welcome! Please feel free to submit a Pull Request.

License

This project is licensed under the MIT License - see the LICENSE file for details.

Support

For issues and questions:

• Open an issue on GitHub
• See robot-specific troubleshooting guides in the documentation