G1 Unitree Robot Manipulation and Navigation Workspace

This repository contains a ROS 2 workspace for the Unitree G1 humanoid robot. It provides tools, controllers, and scripts for upper-body manipulation, camera streaming, and simulation.

Repository Structure

• camera/: Client-server architecture for streaming the G1's internal RealSense and external USB cameras over the network using ZeroMQ.
• manipulation/: Forward and Inverse Kinematics (FK/IK) controllers, workspace mapping, and computer vision integration for arm manipulation.
• fastlio2_exp/: Scripts for generating a pointcloud of the environment using a LiDAR and recording ROS 2 topics (Requires Docker).
• mujoco/: Simulation environment using the Holosoma FastSAC Locomotion Policy for the G1, including camera and teleoperation scripts.
• g1_pilot_exp/: Guide and configuration for operating the robot wirelessly via Zenoh Bridge without an Ethernet tether.
• src/: ROS 2 packages including g1pilot, unitree_ros2, and livox_ros_driver2.

Prerequisites

Before using this workspace, ensure you have the following installed on your local machine:

• OS: Ubuntu 22.04 (Recommended)
• ROS 2: Humble Hawksbill
• Python: 3.10+
• Unitree SDK2: Properly installed and sourced in your environment.

Installation and Setup

To run the scripts natively (without Docker), clone the repository and build the ROS 2 workspace:

# 1. Source your ROS 2 installation
source /opt/ros/humble/setup.bash

# 2. Navigate to the root of this workspace
cd path/to/robot_ws

# 3. Install dependencies (rosdep)
rosdep update
rosdep install --from-paths src --ignore-src -r -y

# 4. Build the workspace
colcon build

# 5. Source the workspace
source install/setup.bash

Please refer to the individual README.md files inside each subdirectory for specific execution instructions.