> For the complete documentation index, see [llms.txt](https://docs.openmind.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.openmind.com/release-notes/om1-ros2-sdk/beta.md). # 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** * 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** * This release introduces the camera/insta365/image\_raw topic and adds integration with G1 for OM Path. ### **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** * 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** * 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** * 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. --- # Agent Instructions This documentation is published with GitBook. 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