Unitree G1
Bipedal humanoid robot by Unitree Robotics, designed as a compact research, development, and developer platform.
Applications
- Research
- Home Assistance
realsense-ros is the official ROS 2 wrapper maintained by Intel. It provides the `realsense2_camera_node`, which publishes RealSense streams as standard ROS 2 messages: `sensor_msgs/Image` for depth/color/infrared, `sensor_msgs/PointCloud2` for the point cloud, `sensor_msgs/Imu` for IMU (D435i, D455), and `sensor_msgs/CameraInfo` for intrinsics.
The wrapper supports full runtime parameterization via `parameters.yaml`: resolution, FPS, post-processing (decimation, hole-filling, temporal), align_depth_to_color, pointcloud filters. It allows dynamic enabling/disabling of streams and HDR mode, and works with multiple cameras simultaneously via serial-number namespacing.
The wrapper is available as an official apt package (ros-humble-realsense2-camera, ros-jazzy-realsense2-camera) and via source build with colcon. It is used in the Isaac ROS stack (as an alternative to isaac_ros_realsense), Nav2 (obstacle avoidance), and MoveIt 2 (scene perception).
A Driver is a software layer responsible for communication with a specific hardware device or component. In robotics, drivers enable support for sensors (LiDARs, cameras, IMUs), actuators, motor controllers, grippers, and other modules at the hardware or low-level OS layer. They abstract device-specific protocols (USB, CAN, UART, EtherCAT) and expose a standardised interface to the middleware or application layer above.
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.).
Boston Dynamics Atlas (ROS 2 perception), Husky/Jackal demo, MoveIt 2 scene perception, Isaac ROS replacement in many deployments, the majority of visual SLAM thesis projects.
2.4k★ on GitHub, ~80k monthly apt downloads, the most installed ROS 2 camera wrapper.
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 ROS 2 Humble or newer and librealsense2 ≥ 2.55.1.
License family: Permissive
ROS 2 Jazzy + Humble support, librealsense2 ≥ 2.56.
Calibration Action Server, HDR mode.
Full ROS 2 Humble support, new parameters API.
First ROS 2 Foxy release.
First wrapper for ROS 1 Kinetic.
