go1-autonomy-stack

Onboard perception + autonomy stack for the Unitree Go1 Edu Plus under ROS Melodic. Runs on the robot's internal compute (Jetson Nano 4GB + Jetson Xavier NX), talks to the factory locomotion controller, and publishes live camera topics for downstream SLAM and navigation.

Status (2026-04-23): Robot walks from ROS. OAK-D RGB + stereo-depth topics live at ~10 Hz. SLAM (M3) is the next milestone.

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Current status

• M1 — Platform & command path. Stand / sit / damp / trot / walk commanded from ROS, with reproducible boot scripts.
• M2 — Camera integration. OAK-D mounted, depthai-core v2.24.0 + depthai-ros patched for Melodic, /oak/rgb/image_raw and /oak/stereo/image_raw publishing.
• M3 — 2D SLAM. pcl2scan + gmapping, benchmark vs hector.
• M4 — Point-to-point navigation. AMCL + move_base.
• M5 — Evaluation: map accuracy, nav success rate, compute load benchmarks.

See docs/08-next-steps.md for the full roadmap.

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Hardware & network (short version)

Board	IP	Hardware	Hostname	User	Pass	Role
Nano 4GB	192.168.123.14	Jetson Nano (4 GB RAM, 14 GB eMMC)	unitree-desktop	unitree	SSH key	ROS master, body cameras, dashboard
Xavier NX	192.168.123.15	Jetson Xavier NX (8 GB RAM, 110 GB NVMe)	nx	unitree	123	OAK-D camera node, UnitreeSLAM, belly camera
Raspberry Pi	192.168.123.161	Pi 3B+	—	pi	123	Sport-mode relay, web UI
MCU	192.168.123.10	STM32	—	—	—	Motor controller (UDP-only)

Your laptop sits at 192.168.123.100 on whatever ethernet adapter reaches the robot LAN. Full details: docs/01-hardware.md, docs/02-network.md.

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Quickstart — 5 minutes from cold robot

# 1. Power the robot on. It boots into damping. Wait 30 s for all boards to come up.
ping -c1 192.168.123.14 && ping -c1 192.168.123.15

# 2. The repo is already on the robot at ~/go1-autonomy-stack/.
#    If starting fresh on a re-imaged board, clone it:
#    ssh unitree@192.168.123.14
#    git clone <this-repo-url> go1-autonomy-stack

# 3. Stand the robot up.
ssh unitree@192.168.123.14
cd ~/go1-autonomy-stack
./scripts/go1_ros.sh stand

# 4. Launch the OAK-D camera (still on .14).
./scripts/start_oak_camera.sh

# 5. Verify topics are alive.
source /opt/ros/melodic/setup.bash
export ROS_MASTER_URI=http://192.168.123.14:11311
rostopic hz /oak/rgb/image_raw          # expect ~10 Hz

# 6. Trot test (10 s forward at 0.2 m/s). Keep a hand near the power switch.
./scripts/go1_ros.sh trot

# 7. Back to safe state.
./scripts/go1_ros.sh damp

First-time setup (cold boards, empty catkin_ws, or re-imaged Jetsons): see docs/03-first-boot.md.

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Architecture

                Your laptop (192.168.123.100)
                         │  ssh / rosmaster client
                         ▼
  ┌──────────────────────────────────────────────────────────┐
  │  Jetson Nano 4GB (.14)  ← ROS master, port 11311         │
  │  - roscore                                               │
  │  - go1-dashboard (tri_stream.py → http://localhost:8080) │
  │  - /high_cmd publisher → Pi → MCU                        │
  │  - body stereo /dev/video0,1                             │
  └────────────┬───────────────────┬────────────────────────┘
               │ ROS topics        │ UDP /high_cmd → .161:8082
               ▼                   ▼
  ┌─────────────────────────┐  ┌──────────────────────────┐
  │  Jetson Xavier NX (.15) │  │  Raspberry Pi (.161)     │
  │  - depthai_ros_driver   │  │  - Legged_sport relay    │
  │  - /oak/rgb/image_raw   │  │  - nginx web UI          │
  │  - /oak/stereo/image_raw│  │  - UDP ↔ MCU (.10:8007)  │
  │  - UnitreeSLAM (lidar)  │  └────────────┬─────────────┘
  │  - belly /dev/video0    │               │
  └─────────────────────────┘               ▼
                                 ┌──────────────────────┐
                                 │  MCU (.10)           │
                                 │  Motor control 8007  │
                                 └──────────────────────┘

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Repo layout

Folder	What it is
docs/	Numbered onboarding guides (hardware, network, first-boot, build, OAK-D, troubleshooting, next steps).
packages/	ROS packages — drop into ~/catkin_ws/src/ and catkin_make. Contains ros_unitree (Go1 ROS core).
scripts/	Automation: go1_ros.sh (unified control), start_oak_camera.sh, fix_net.sh, deploy.sh, etc.
dashboard/	Live web dashboard (tri_stream.py) — cameras + sensors in a browser. Runs on .14.
config/	Drop-in configs we tweaked: OAK-D camera.yaml (nn_type=none), USB udev rule for vendor 03e7.

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Building & running

• Catkin workspace rebuild: docs/04-build-catkin.md
• OAK-D from scratch (depthai-core v2.24.0 + patched depthai-ros): docs/05-oak-d-setup.md
• depthai-ros modifications (6 patches for Melodic + v2.24.0 compatibility): docs/06-depthai-ros-mods.md
• Troubleshooting: docs/07-troubleshooting.md