Unitree Go2/Go2W · ROS 2 Humble · MuJoCo simulation + real hardware
Last updated: 2026-08-05
A modular navigation stack for the Go2/Go2W platform. All configurations launch from a single entry point; localization, mapping, navigation, and exploration components are swappable without changing the safety or operator layers. A dedicated safety node owns the final command path to the platform.
Four results are collected below:
One launch entry point resolves a thin preset (which localization / mapping / navigation / exploration components to run) and supervises the whole session: readiness checks, TF validation, and artifact verification on every run. Manual controller input latches autonomy off and cancels active navigation goals.
A web operator console provides login, live camera / map / robot state, and a browser e-stop. It has been exercised against the real robot: map reset, exploration start/stop, and live 2D map / 3D voxel views in a real session.
Mid360 → Fast-LIO → 2D occupancy grid → Nav2 on the real Go2W, with goal-driven navigation from RViz. Several hardware-only issues were found and fixed during bring-up (estimator rate collapse, incorrect robot footprint parameters).
The localization/mapping pair swapped from Fast-LIO + LiDAR occupancy to RTAB-Map + RGB-D, with the navigation and safety layers unchanged — a direct validation that stack components are genuinely replaceable.
SCAN-Planner (3D local planner, B-spline trajectory replanning) integrated through the same command/safety chain as Nav2. Closed-loop goal reaching works on flat ground; a purpose-built two-level test scene (stairs + ramp) probes multilevel navigation.
Preliminary conclusion: on flat ground SCAN qualitatively outperforms the MPPI baseline and is the leading candidate there. As the video below shows, the planner does produce 3D paths through the two-level scene — but the current controller is not capable of executing the ascent. The gap is in execution (controller / locomotion), not in planning.