Robonix deployment for Unitree Go2

This repository adapts a Unitree Go2 to Robonix and Nav2 using only the high-level Unitree Sport service. It standardizes chassis odometry, IMU, onboard lidar and video; supplies the Go2 model/TF tree; configures RTAB-Map and Nav2; maps Chinese semantic landmark names to verified map poses; and provides loopback-only Client, Scene, Mapping and dashboard operator pages.

All non-DDS control/capability/audio/dashboard listeners are loopback-only. Scene and Mapping administration remain unavailable on public interfaces; remote viewing uses an authenticated SSH tunnel.

The supported semantic task shape is:

“请带我去<已验证地标>” / “请带我回到地图起点”

The production path is:

Chinese speech -> Robonix ASR/Liaison/Pilot
-> semantic_navigation.navigate_landmark("<verified landmark>")
-> verified pose in the active saved map
-> Robonix navigation service -> Nav2 NavigateToPose
-> guarded /cmd_vel -> Go2 chassis adapter -> Unitree SportClient

Motion is off by default and boot never arms the chassis. No posture or low-level motor API is implemented. Read docs/SAFETY.md before connecting hardware.

On 2026-07-31, the supervised reference deployment completed a real Chinese Client voice request to a long-distance mapped target and a Client-dispatched autonomous return. Stop, cancel, watchdog and remote takeover remained in the control path. See the supervised full-stack validation note.

Publisher ownership is explicit. GO2_RUNTIME_PLACEMENT=workstation-local keeps the existing all-on-workstation behavior. The reviewed split profiles are workstation-full-nx-sensors (NX runs --sensors-only --camera) and workstation-ui-nx-full (NX runs its full read-only profile with --camera, while the workstation starts only the telemetry UI). Every start performs a bounded, read-only publisher-count preflight for camera, lidar/IMU, odometry and /tf_static; a missing or duplicate owner stops startup.

An additional default-disabled workstation-full-nomotion-corrected commissioning profile can qualify one reviewed fixed source-clock offset and expose only private corrected state, MID-360 IMU/cloud and lidar-odometry copies. It cannot authorize motion, cannot satisfy canonical chassis /odom, and is not a navigation acceptance result. A local generator derives the offset and four exact writer GIDs from same-session read-only evidence; a long-lived graph monitor keeps those GIDs bound throughout the run. See the no-motion timestamp correction contract.

Clone and inspect safely

git clone --recursive https://github.com/syswonder/robot-unitree-go2.git
cd robot-unitree-go2
git submodule update --init --recursive
./scripts/validate_offline.sh

The validation command is offline: it does not initialize ROS/DDS, start a Unitree SDK client or contact hardware. See known upstream and commissioning limits before attempting a build or boot.

To inspect the deterministic Chinese voice-to-dashboard contract proof by itself, run:

bash scripts/demo_offline_voice_e2e.sh

This command uses fixed in-memory ASR, Pilot and navigation fixtures together with the real map-lifecycle guard, landmark resolver, semantic run registry and dashboard state. It opens no ROS graph or network socket and has no publisher or motion API. A pass proves interface wiring only, not physical navigation.

Gate 2 has a separate localhost-only rosbag harness:

bash scripts/gate2_replay_acceptance.sh

With no real capture/map or ROS navigation dependencies it deliberately returns SKIP (exit 77). Its checked-in evaluator fixture deliberately returns FIXTURE_ONLY (exit 77). A real PASS requires all measured Mapping/Nav2, costmap, TF, cancel, sensor-loss stop and simultaneous UI checks described in the Gate 2 runbook; the harness never starts the Unitree transport or connects to a physical Go2 interface.

What is ready without hardware

• Deployment/Catalog manifests and Soma robot model.
• Pinned official unitree_ros2 and unitree_sdk2 git submodules; Unitree motion examples are never built or run by this repository.
• Official Go2 model assets with a base_link navigation root.
• Fail-closed chassis and sensor adapters with process isolation.
• Conservative RTAB-Map/Nav2 configuration and non-spinning recovery tree.
• Deterministic Chinese landmark resolver and exact-phrase tests.
• Read-only UI for image, lidar, map, pose, odometry and task state.
• Static and offline unit tests; no test publishes a velocity command.

Hardware-dependent gates

The operator must identify the dedicated wired NIC, verify the real Go2 topic names/QoS/frames, measure sensor extrinsics, create/load the laboratory map, and save a verified approach pose in config/semantic_landmarks.local.yaml, including the exact (map_id, generation) from the mapping lifecycle while it is in localization mode. Until those checks pass on a particular deployment, semantic navigation rejects the target and motion remains disarmed. Passing them on the supervised reference Go2 does not authorize another robot or site automatically.

See docs/HARDWARE_CHECKLIST.md for the exact operator steps and docs/DEPLOYMENT.md for build/start commands.

Licenses

Integration code is Apache-2.0. The aggregate deployment also redistributes BSD-3-Clause Unitree code/model assets, MIT dependencies and the private CycloneDDS runtime under EPL-2.0 OR EDL-1.0. See NOTICE, THIRD_PARTY.md, and the authoritative license files retained in the pinned submodules.