Unitree G1
Bipedal humanoid robot by Unitree Robotics, designed as a compact research, development, and developer platform.
Applications
- Research
- Home Assistance
Motion planning · Control & Planning
1.4.0 Kilted
Nav2 (Navigation 2) is the flagship ROS 2 navigation stack, developed by Open Navigation LLC and the ROS 2 community. It is the successor to the original ROS Navigation Stack and brings autonomous-vehicle-grade technology down to mobile robotics, optimized for indoor and outdoor robots. The architecture is built on Behavior Trees (BT) orchestrating independent task servers (planner, controller, behavior, smoother, route, waypoint follower).
Key components: Planner Server (NavFn, Smac Planner 2D/Hybrid/Lattice, Theta*) generates the global path; Controller Server (DWB, MPPI, Regulated Pure Pursuit, Graceful Controller, Rotation Shim) computes local velocity commands; Costmap 2D with plugins (StaticLayer, ObstacleLayer, VoxelLayer, InflationLayer, Denoise, KeepoutFilter, SpeedFilter) builds the environment representation; AMCL provides particle-filter localization on a known map; Collision Monitor and Detector deliver a safety layer. Smoother Server (Constrained, Savitzky-Golay, Simple) smooths paths, and Waypoint Follower executes multi-step missions.
Nav2 supports all major kinematics: differential drive, omnidirectional, Ackermann, and legged — used by quadruped and humanoid robots. Active ROS 2 distribution support: Humble (LTS), Jazzy, Kilted, Rolling. The project is used in production by 100+ companies worldwide, including TurtleBot 3/4, Nova Carter, Otto Motors, Clearpath Robotics, and many research robots.
A Control Stack is the set of software components responsible for control logic, motion planning, command execution, and coordination of a robot's actuators. It receives high-level goals or waypoints (from planning or AI layers) and translates them into low-level actuator commands, closed-loop feedback control, and safety checks. Common implementations include MoveIt (arm manipulation), Nav2 (mobile navigation), and custom whole-body control stacks for humanoids.
An API Library is a software package that exposes programmatic interfaces for communicating with a device, service, or system. In robotics it typically forms a lightweight integration layer built on top of the manufacturer's official API or an open-source project, abstracting low-level protocol details and providing language-native bindings (Python, C++, Java, etc.).
A Developer Tool is software designed to support the development workflow, including configuration, debugging, testing, monitoring, validation, and integration of robotic and embedded systems. Examples include IDE plugins, visual debuggers, log analysers, hardware-in-the-loop (HIL) test harnesses, and code-generation utilities specific to robotics platforms.
TurtleBot 3/4, Clearpath Husky/Jackal/Boxer, Nova Carter (NVIDIA), Otto Motors AGV, Stretch RE-2 (Hello Robot), Unitree Go2 (community ports). 100+ commercial deployments in logistics, healthcare, and hospitality.
2.9k★ on GitHub ros-navigation/navigation2, 1.3k forks, 300+ contributors, regular ROSCon talks. Professional support from Open Navigation LLC (Steve Macenski).
Bipedal humanoid robot by Unitree Robotics, designed as a compact research, development, and developer platform.
Unitree H1 is a full-size general-purpose humanoid robot (~180 cm, ~47 kg). Bipedal, 5 DOF per leg + 4 DOF per arm, 3.3 m/s walking speed, 360° perception via 3D LiDAR + depth camera, Unitree M107 PMSM joint motors with ~360 N·m peak knee torque. Standard compute: Intel Core i5/i7; optional NVIDIA Jetson Orin NX.
Requires a fully working ROS 2 install (Humble/Jazzy/Kilted). High-resolution 2D costmaps need more RAM.
License family: Permissive
License family: Permissive
Route Server stable, Following Server, MPPI Eigen refactor (+40% perf).
Docking Server, Loopback Simulator, Route Server preview.
Collision Monitor, Velocity Smoother, Denoise Layer.
LTS for ROS 2 Humble, MPPI controller, Smac Planner Lattice.
First stable Nav2 release for ROS 2 Foxy.
