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CHANGELOG.md

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Unreleased

v0.3.0 - 2025-08-15

Bug Fixes

  • ros2: fix the bug in Ros2 Foxy where topic_datistics_collector did not determine the header type and directly used headers.stamp, the Humble feature was marked in v0.2.0 and can now be used in Foxy as well

Examples

  • example: add g1_audio_client_example

  • example: add g1_dual_arm_example

  • example: add g1_ankle_swing_example

  • example: add g1_loco_client_example

  • example: add g1_arm_action_example

  • example: add g1_arm_sdk_dds_example

Features

  • g1: add dex3 example, modify the dds msg to align with sdk2

BREAKING CHANGE

  • HandCmd.msg HandState.msg PressSensorState.msg in cyclonedds_ws/src/unitree/unitree_hg/msg/ has been modified to align to sdk2,you can view the corresponding file to check the modification items.There is no recommended iteration method, you can update according to your own usage.

v0.2.0 - 2025-07-29

Examples

  • example: add go2 stand example

  • example: add go2 sport client example

Features

  • deprecate: delete deprecated functions that are no longer supported

  • go2: add support for RobotStateClient on ROS 2 Humble Now the APIs in the following list are supported:

name value example ros2 version
ROBOT_STATE_API_ID_SERVICE_SWITCH 1001 int32_t RobotStateClient::ServiceSwitch(); humble
ROBOT_STATE_API_ID_SET_REPORT_FREQ 1002 int32_t RobotStateClient::SetReportFreq(); humble
ROBOT_STATE_API_ID_SERVICE_LIST 1003 int32_t RobotStateClient::ServiceList(); humble

At the same time, you can also refer to the API implementation in example/src/src/common/ros2_robot_state_client.cpp to communicate with Go2 using ROS2 on your own. An example is in the file example/src/src/go2/g2_robot_state_client.cpp.

  • go2: add some new supported go2 sports APIs Now the APIs in the following list are supported:
name value example ros2 version
ROBOT_SPORT_API_ID_HEART 1036 void SportClient::Heart(); foxy humble
ROBOT_SPORT_API_ID_STATICWALK 1061 void SportClient::StaticWalk(); foxy humble
ROBOT_SPORT_API_ID_TROTRUN 1062 void SportClient::TrotRun(); foxy humble
ROBOT_SPORT_API_ID_ECONOMICGAIT 1063 void SportClient::EconomicGait(); foxy humble
ROBOT_SPORT_API_ID_LEFTFLIP 2041 void SportClient::LeftFlip(); foxy humble
ROBOT_SPORT_API_ID_BACKFLIP 2043 void SportClient::BackFlip(); foxy humble
ROBOT_SPORT_API_ID_HANDSTAND 2044 void SportClient::HandStand(); foxy humble
ROBOT_SPORT_API_ID_FREEWALK 2045 void SportClient::FreeWalk(); foxy humble
ROBOT_SPORT_API_ID_FREEBOUND 2046 void SportClient::FreeBound(); foxy humble
ROBOT_SPORT_API_ID_FREEJUMP 2047 void SportClient::FreeJump(); foxy humble
ROBOT_SPORT_API_ID_FREEAVOID 2048 void SportClient::FreeAvoid(); foxy humble
ROBOT_SPORT_API_ID_CLASSICWALK 2049 void SportClient::ClassicWalk(); foxy humble
ROBOT_SPORT_API_ID_WALKUPRIGHT 2050 void SportClient::WalkUpright(); foxy humble
ROBOT_SPORT_API_ID_CROSSSTEP 2051 void SportClient::CrossStep(); foxy humble
ROBOT_SPORT_API_ID_AUTORECOVERY_SET 2054 void SportClient::AutoRecoverySet(); foxy humble
ROBOT_SPORT_API_ID_AUTORECOVERY_GET 2055 void SportClient::AutoRecoveryGet(); humble
ROBOT_SPORT_API_ID_SWITCHAVOIDMODE 2058 void SportClient::SwitchAvoidMode(); foxy humble

At the same time, you can also refer to the API implementation in example/src/src/common/ros2.sport_cient.cpp to communicate with Go2 using ROS2 on your own. An example is in the file example/src/src/go2/go2_Sport_cient.cpp.

BREAKING CHANGE

  • The functions or API IDs in the following list are no longer supported. If you need to use a new version, please remove the following references:
API ID Macro Definition Function Name
1011 ROBOT_SPORT_API_ID_SWITCHGAIT SwitchGait()
1012 ROBOT_SPORT_API_ID_TRIGGER Trigger()
1013 ROBOT_SPORT_API_ID_BODYHEIGHT BodyHeight()
1014 ROBOT_SPORT_API_ID_FOOTRAISEHEIGHT FootRaiseHeight()
1018 ROBOT_SPORT_API_ID_TRAJECTORYFOLLOW TrajectoryFollow()
1019 ROBOT_SPORT_API_ID_CONTINUOUSGAIT ContinuousGait()
1021 ROBOT_SPORT_API_ID_WALLOW Wallow()
1024 ROBOT_SPORT_API_ID_GETBODYHEIGHT (No direct function)
1025 ROBOT_SPORT_API_ID_GETFOOTRAISEHEIGHT (No direct function)
1026 ROBOT_SPORT_API_ID_GETSPEEDLEVEL (No direct function)

v0.1.0 - 2025-07-23