New Open-Source Release for Quadruped Unitree Go2 – ROS 2 Jazzy × Gazebo Harmonic

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I’ve just published a ROS 2 Jazzy integration package for the Unitree Go2 built on the CHAMP quadruped controller—and you can try it right now:

:link: GitHub: GitHub - khaledgabr77/unitree_go2_ros2: The package provides a complete ROS 2 Jazzy integration for the Unitree Go2 quadrupedal robot using the CHAMP controller framework.

Watch Demo on YouTube

What’s Inside

  • :white_check_mark: Full ROS 2 Jazzy integration with Gazebo Harmonic
  • :white_check_mark: Custom-adapted URDF models for precise control
  • :white_check_mark: Full simulation pipeline (spawn → RViz → teleop)
  • :white_check_mark: Intuitive teleoperation capabilities
  • :white_check_mark: Configurable gait parameters for different terrains

Looking Ahead

I’m actively seeking collaborators to tackle:

  • :globe_showing_europe_africa: SLAM & mapping plugins
  • :world_map: Navigation 2 for autonomous missions
  • :hammer_and_wrench: Sensor models (IMU, 2D/3D LiDAR)

Passionate about legged robots or ROS 2? Let’s build something awesome together! Drop a comment, DM me, or open a PR.

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