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id	title	status	source_sections	related_topics	key_equations	key_terms	images	examples	open_questions
ros2-integration	ROS2 Integration	established	reference/sources/github-unitree-ros2.md, reference/sources/official-developer-guide.md	[sdk-programming networking-comms simulation]	[]	[ros2 dds cyclone_dds]	[]	[]	[Complete list of ROS2 topics and services for G1 RViz visualization configuration details Is ROS2 Jazzy supported?]

ROS2 Integration

ROS2 middleware integration, packages, topics, and services for the G1.

1. Supported Distributions

OS	ROS2 Distribution	Status	Tier
Ubuntu 20.04	Foxy	Supported	T0
Ubuntu 22.04	Humble	Recommended	T0

[T0 — unitree_ros2 GitHub README]

2. Architecture

The unitree_ros2 package communicates directly via DDS at the middleware level — it does not wrap the SDK. Instead, it uses the same CycloneDDS 0.10.2 protocol that the SDK uses, providing native ROS2 compatibility. [T0]

ROS2 Application ←→ CycloneDDS 0.10.2 ←→ Robot (DDS topics)
                                          ↕
unitree_sdk2 ←→ CycloneDDS 0.10.2 ←→ Robot (DDS topics)

Both paths use the same underlying DDS transport and can coexist.

3. Unitree ROS2 Packages

Package / Directory	Purpose
`cyclonedds_ws/`	ROS2 message definitions for Unitree DDS types
`example/src/`	Sample state reading and motor control apps
`.devcontainer/`	Docker development environments

Repository: https://github.com/unitreerobotics/unitree_ros2 [T0]

Package	Repository	Purpose
`unitree_ros2_to_real`	https://github.com/unitreerobotics/unitree_ros2_to_real	Real-time control from ROS2
`g1pilot`	https://github.com/hucebot/g1pilot	Community ROS2 G1 control

4. Capabilities

State acquisition: Sport mode states, position/velocity/gait data, motor states, power info, wireless controller input [T0]
Robot control: High-level sport mode (request/response), low-level motor control (torque/position/velocity) [T0]
Visualization: RViz support for LiDAR point clouds and sensor data [T0]
Joint state publishing: Standard sensor_msgs/JointState for visualization and planning [T1]

5. Installation

# Clone repository
git clone https://github.com/unitreerobotics/unitree_ros2.git

# Build CycloneDDS workspace first
cd unitree_ros2/cyclonedds_ws
colcon build

# Source the workspace
source install/setup.bash

# Build examples
cd ../example
colcon build

Critical: CycloneDDS version must be exactly 0.10.2. Version mismatches will cause communication failures. [T0]

6. URDF / Robot Description

Source	Format	Location	Notes
`unitree_ros`	URDF	`robots/g1_description/`	Mass, inertia, joint limits
MuJoCo Menagerie	MJCF	`unitree_g1/g1.xml`	Optimized for MuJoCo
`unitree_model`	USD	Deprecated → HuggingFace	For Isaac Sim

The primary URDF is in the unitree_ros repository at https://github.com/unitreerobotics/unitree_ros. It includes mass, inertia, moment, and joint limits data. [T0]

Note: The URDF is designed for MuJoCo, not Gazebo. Gazebo simulation cannot do high-level control (walking). [T1]

7. Middleware Configuration

DDS implementation: CycloneDDS 0.10.2 (mandatory)
Domain ID: Configure via ROS_DOMAIN_ID environment variable
Sim vs Real: Change domain ID to switch between simulated and real robot
QoS: Default QoS profiles work for most use cases

Key Relationships

Built on: sdk-programming (shared DDS communication layer)
Uses: networking-comms (CycloneDDS middleware)
Enables: simulation (ROS2 bridge to sim environments)
Models in: simulation (URDF/MJCF for visualization and planning)

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