Unitree G1
Bipedal humanoid robot by Unitree Robotics, designed as a compact research, development, and developer platform.
Applications
- Research
- Home Assistance
ROS / ROS 2 · Middleware
Humble Patch Release 10·Open Source Robotics Foundation
ROS 2 Humble Hawksbill is the eighth major ROS 2 release and the second LTS in the project's history. Released on 23 May 2022 alongside Ubuntu 22.04 Jammy Jellyfish, it receives a full 5-year support window (through May 2027), including security patches and compatibility fixes.
Humble is the most widely deployed release in production: stable rclcpp/rclpy APIs, mature integration of Nav2 (2D navigation), MoveIt 2 (arm planning), ros2_control (hardware control), Gazebo Fortress and Ignition. It supports DDS (Fast DDS as default, Cyclone DDS as alternative, RTI Connext, Gurum DDS) with full QoS compliance.
Humble is the default release on robots: iRobot Create 3, Clearpath Husky A300, PAL Robotics TIAGo Pro, ANYbotics ANYmal, and on the Isaac ROS stack from NVIDIA, ZED ROS from Stereolabs, RealSense ROS from Intel. The community provides over 1,200 official Debian packages for Humble.
Middleware is a software layer that mediates between applications, services, sensors, drivers, and execution layers. In robotics, middleware is typically responsible for inter-process communication, message passing, hardware abstraction, and module integration within a single system. The most widely used robotics middleware is ROS (Robot Operating System), which provides a publish-subscribe message bus, service calls, and a rich ecosystem of packages.
A Runtime is the environment or execution layer used to run code, load libraries, manage dependencies, and operate applications or services — either in real time or during normal system operation. In robotics this includes real-time operating system (RTOS) runtimes, ROS 2 executor runtimes, containerised execution environments (Docker, podman), and embedded C++ runtimes on microcontrollers.
iRobot Create 3 (default OS), Clearpath Husky A300, PAL Robotics TIAGo Pro, ANYbotics ANYmal X, NVIDIA Isaac ROS stack, Intel RealSense ROS wrapper, Stereolabs ZED ROS.
1,200+ Debian packages, ~2M monthly downloads of ros-humble-desktop alone, the most-installed ROS 2 release in 2024 per the ROS Metrics Survey.
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.
Figure 03 is the third-generation humanoid robot from Figure AI, designed for Helix, home environments, and scalable mass production.
ros-humble-ros-base ~1 GB, ros-humble-desktop ~3.5 GB, ros-humble-desktop-full with Gazebo Fortress ~7 GB.
License family: Permissive
Latest LTS patch update, DDS QoS improvements.
Security updates and rclcpp/rmw fixes.
First LTS release on Ubuntu 22.04.
