# beta

Beta release for the Docker image openmindagi/om1\_ros2\_sdk, which provides the full ROS2 system for running the Unitree Go2, G1 and LimX Tron SDK.

### [v1.0.1-beta.3](https://github.com/OpenMind/OM1-ros2-sdk/releases/tag/v1.0.1-beta.3)

* Added support for Isaac Sim with Unitree Go2 and Unitree G1
* Upgraded RPLidar support to S2L. Please update the configuration if you are still using RPLidar A1
* Improved the performance of OM Path
* Added support for the LimX Tron robot

### [v1.0.1-beta.2](https://github.com/OpenMind/OM1-ros2-sdk/releases/tag/v1.0.1-beta.2)

* This release introduces the camera/insta365/image\_raw topic and adds integration with G1 for OM Path.

### [v1.0.1-beta.1](https://github.com/OpenMind/OM1-ros2-sdk/releases/tag/v1.0.1-beta.1)

* Support for the LimX Tron robot model, enabling advanced robotics applications with enhanced capabilities.
* The Docker image and repository have been renamed back to om1-ros2-sdk for consistency with other OM1 components.
* Restructure of the codebase to support multiple robot models with a unified architecture, allowing for easier expansion and maintenance.
* Improved configuration management, enabling users to easily switch between different robot models and customize settings.

### [v1.0.0-beta.3](https://github.com/OpenMind/OM1-ros2-sdk/releases/tag/v1.0.0-beta.3)

* The Docker image and repository have been renamed to unitree\_sdk, reflecting the unified SDK architecture and simplifying deployment workflows.
* Smart Auto-Charging System
  * The robot now supports AprilTag-based visual docking integrated with Nav2 navigation.
  * When the robot requires charging, it autonomously navigates to the charging station’s vicinity using the Nav2 stack.
  * Upon reaching the target area, it switches to precision docking mode, using onboard cameras to detect AprilTags mounted near or on the charging dock.
  * This hybrid approach ensures robust and accurate alignment for seamless autonomous charging.
* The CYCLONE\_INTERFACE has been renamed to CYCLONEDDS\_INTERFACE for consistency with the underlying communication standard.
* New Remote Control Feature Added the ability to remotely control the robot, enabling manual operation for testing, navigation overrides, and precision movement in complex environments.
* We added monitoring to WatchSensor for audio RTSP.
* Reorganized the orchestrator package by splitting core logic, API, and cloud nodes into 'core', HTTP/ROS handlers into 'handlers', and process, map, location, and charging logic into 'managers'. Added new service and utility modules, moved WebSocket clients/servers to 'utils', and updated imports accordingly. This modular structure improves maintainability, separation of concerns, and scalability for future development.
* Users can now enable or disable TTS mode directly from the web portal for greater flexibility in communication and operation.
* New topics have been added for fetching, enabling, and disabling AI mode, allowing dynamic AI state management via ROS or other interfaces.
* Agile mode of the robot is unstable due to the payload on its back. Operate in Classic Mode for optimal stability and performance is recommended.

### [v1.0.0-beta.2](https://github.com/OpenMind/OM1-ros2-sdk/releases/tag/v1.0.0-beta.2)

* Added CRSF Protocol Support
* Added turbo mode for the xbox controller
* Added listening and scouting configuration to zenoh\_bridge\_config for disabling multicast to prevent receiving messages from other robots
* Introduced Pydantic models for location and pose data
* New endpoints to add and list map locations, and ensure locations are stored in a dedicated directory.
* docker-compose is updated to mount a new 'locations' volume. Also extended the orchestrator API to handle 'add\_location' and 'list\_locations' actions.
* Added MediaMTX watcher: MediaMTX is a zero-dependency media server and proxy used to publish, read, proxy, record, and playback live video and audio streams. It serves as a central "media router," handling multiple streaming protocols like RTSP, WebRTC, RTMP, and HLS.

### [v1.0.0-beta.1](https://github.com/OpenMind/OM1-ros2-sdk/releases/tag/v1.0.0-beta.1)

* Real-time SLAM: Simultaneous localization and mapping using SLAM Toolbox
* RPLiDAR Integration: Support for RPLiDAR A1/A2/A3 series sensors
* Navigation: Integration with Nav2 for autonomous navigation
* Robot Control: Direct integration with Unitree Go2 movement commands
* Visualization: Pre-configured RViz setup for monitoring
* Transform Management: Automatic handling of coordinate frame transforms

### Component Overview

#### Watchdog

* Monitors ROS2 topics and sensor health.
* Automatically restarts `om1_sensor` if any topics or sensors stop publishing data.
* Ensures system stability during long-running sessions.

#### om1\_sensor

* Manages all low-level sensor drivers:
  * Intel RealSense D435 (depth camera)
  * RPLidar (LiDAR scanning)
* Publishes ROS2 topics for system consumption:
  * `/om/paths` — Processed path and localization data
  * `/scan` — Raw LiDAR scan data

#### Orchestrator

* Provides API endpoints and cloud service integration.
* Manages:
  * SLAM (Simultaneous Localization and Mapping)
  * Navigation (Nav2)
  * Map storage and loading
* Allows interaction via REST APIs.

#### Zenoh Bridge

zenoh\_bridge acts as a bridge between OM1 and OM1\_sensor to publish and subscribe to/from ROS2 topics.