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unitree_ros (Unitree Go1 ROS 2 driver)

  • Software
  • Humanoids and robot learning
  • Driver or SDK

A ROS 2 driver that connects to the Unitree Go1 Edu legged robot and exposes it through ROS topics, acting as middleware between ROS 2 and unitree_legged_sdk.

Made by Automation and Robotics Research Group (ARG).

Source on GitHub: github.com/snt-arg/unitree_ros (opens in a new tab). Facts read at commit 2e8c3e0 (opens in a new tab).

Licenses

Code
GPL-3.0-only (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (GPL-3.0-only) at commit 2e8c3e0 (opens in a new tab), on 22 Oct 2026.

Commercial use
Yes

Copyleft: Modified source must be published.

What it does

  • Sends velocity commands received on cmd_vel to the robot and publishes its odometry, IMU and battery state.
  • Lets the robot be told to stand up or stand down through dedicated topics.
  • Controls the robot's head LEDs to show statuses such as ready, idle, moving and low battery.
  • Stops the robot from moving and stands it down when the battery falls below a configurable threshold, 20 by default.
  • Can enable the robot's built-in obstacle avoidance mode through a parameter, which is off by default.
  • Supports only the High level commands of unitree_legged_sdk and can connect over wired or Wi-Fi.

Written by Robotheca from the project's README (opens in a new tab) at commit 2e8c3e0.

Getting started

Difficulty
Intermediate

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
5 Oct 2026 on main
Latest release
1.2.0 (23 Jul 2024)

Checked on GitHub on 22 Oct 2026.

Links

Robots that can run it

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.