Quadruped Robot Dog Engineering

I have outlined the configuration for a ROS 2 autonomous patrol mission on the Unitree Go2. This setup uses the high-level sport mode via the SDK2 bridge, integrated with Nav2 for waypoint sequencing and a battery monitor node for safety.

Autonomous Patrol Configuration

# patrol_mission.py
import rclpy
from unitree_sdk2py.go2.sport.sport_client import SportClient

def battery_callback(msg):
    # Threshold check for safety return
    if msg.voltage < 20.0:
        stop_patrol_and_return_home()

def execute_patrol(waypoints):
    client = SportClient()
    for point in waypoints:
        # High-level motion API
        client.MoveTo(point.x, point.y, point.yaw)
        # Verify arrival via odom before next waypoint
        wait_for_arrival(point)

Next steps

1. Test the emergency stop (e-stop) functionality in the Unitree app before launching the ROS bridge.
2. Calibrate the IMU and ensure the Go2 is on a level surface in a cleared 2m radius.
3. Verify the DDS connection by echoing the /joint_states topic to ensure telemetry is flowing.