quadruped_ros2_control

ROS 2 control framework with controllers, command nodes, robot models and hardware interfaces for quadruped robots, mainly the Unitree Go2.

Licenses

Code: Apache-2.0 (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit 5434c58 (opens in a new tab), on 22 Oct 2026.
Commercial use: Yes

Provides ros2-control controllers for quadruped robots, including a Unitree Guide controller and MPC and reinforcement learning controllers.
Includes command nodes, such as a keyboard input node, for sending commands to the controllers.
Contains URDF robot models, including the Unitree Go2 description.
Offers hardware interfaces for the robot, including Unitree SDK2 support for real robots.
Runs in simulation with MuJoCo, Gazebo Harmonic and Isaac Sim, and can drive a real Unitree Go2.
Default branch targets ROS 2 Jazzy; a humble branch exists for ROS 2 Humble.

Written by Robotheca from the project's README (opens in a new tab) at commit 5434c58.

Difficulty: Advanced
Hardware it needs, as the project states it: ROS 2 Jazzy (default branch) or Humble (humble branch); a real Unitree Go2 robot is supported; CycloneDDS may conflict with unitree_sdk2, and FastDDS is recommended.
How to start: The project's README (opens in a new tab)

Checked on GitHub on 22 Oct 2026.

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.