This repository provides a lightweight and ready-to-use simulation of the Unitree Go2 quadruped robot in a Gazebo world.
Paired with the dddmr_navigation stack, you can quickly try out 3D mapping and autonomous navigation without setting up everything from scratch. It’s here to give you an easy starting point for getting into 3D navigation.
To unlock the full 3D navigation experience, you’ll need to integrate this simulation with the dddmr_navigation stack.
👉 Start by following the step-by-step guide here: dddmr_beginner_guide
The guide will walk you through everything you need — from setup to your first navigation test.
By the end, you’ll have Gazebo and 3D navigation up and running, ready to explore and learn.
This project is based on and extends the excellent work from Unitree-go2-ros2.
We are grateful to the original author for the ROS2 integration of the Unitree Go2 robot in Gazebo.
The original authors deserve full credit for the core work — we merely build on top of it.
As acknowledged in that project, credits also go to the following upstream works:
- Unitree Robotics – For the Go2 robot description (URDF model).
- CHAMP – For the quadruped controller framework.
- CHAMP Robots – For robot configurations and setup examples.