It combines multiple state-of-the-art open-source packages into a working real-robot navigation demo, with detailed hardware setup, network configuration, and step-by-step instructions, demonstrating a short-cycle engineering integration approach.
PermitNav is a rapidly integrated 3D navigation demo for Unitree Go2-W / Go2W, built with Livox MID360, ROS2 Humble, FAST-LIO, FAST_LIO_LOCALIZATION2, jie_3d_nav, and Unitree SDK2.
The name PermitNav comes from the original motivation of this project: building a working real-robot navigation demo in a very short time to prove that the system could run and to earn permission to leave for an internship.
This project is mainly intended to achieve a basic 3D navigation pipeline on a real Go2-W robot. It is an engineering integration project rather than a from-scratch navigation framework. This project is only meant to achieve a basic 3D navigation demo. My main focus is locomotion, and I have not worked much on navigation before. If bugs appear, restarting the system is probably the best first solution.
Video： 【【开源】PermitNav，缝合速成的一种全局3d导航】 https://www.bilibili.com/video/BV12Y7j6iEHi/?share_source=copy_web&vd_source=b5c22f93b0d2fd36b1d6203208bd650b
The NUC side is responsible for:
MID360 data acquisition
↓
FAST-LIO mapping / real-time odometry
↓
FAST_LIO_LOCALIZATION2 global localization
↓
localization bridge publishing map -> base_link
↓
jie_3d_nav Web planning and controller
↓
go2w_cmd_bridge forwarding /cmd_vel to Go2-W
Default workspace:
~/go2w_nav_ws
This project is not a navigation framework implemented from scratch. It is a real-robot ROS2 navigation integration project built quickly on top of existing open-source projects.
We sincerely thank the authors and maintainers of the following projects:
| Open-source project | Usage in this project |
|---|---|
| Livox-SDK2 | Low-level Livox LiDAR SDK used to receive data from MID360 and other Livox LiDARs. |
| livox_ros_driver2 | ROS/ROS2 driver for Livox LiDARs. In this project, it publishes MID360 point cloud and IMU data. |
| FAST_LIO_ROS2 | ROS2 version of FAST-LIO. Used for LiDAR-inertial odometry, real-time mapping, /Odometry, and registered point cloud publishing. |
| FAST_LIO_LOCALIZATION | FAST-LIO based localization framework. In this project, it is adapted for relocalization in a pre- |
A rapid ROS2 3D navigation integration for Unitree Go2-W with Livox MID360.
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