ROS 2 Nav2 + AMCL + Unitree G1 | Navigation & Calibration Comparison

In this video, we demonstrate the integration of ROS 2 Nav2, AMCL, and Unitree Locomotion for autonomous navigation on the Unitree G1 humanoid robot. We present our calibration-based approach, focusing on three-level calibration: temporal, command, and odometry. The objective is to improve the consistency between navigation commands, robot motion, and odometry during autonomous navigation. We compare our approach with existing solutions, including Unitree Odom Dog, which operates without an explicit calibration process, as well as other open-source implementations like https://github.com/gunasekaranakash-w.... The demonstration highlights the differences between these approaches in terms of trajectory tracking, odometry consistency, localization, and navigation performance. Technologies: • ROS 2 • Nav2 • AMCL • Unitree G1 • Unitree Locomotion • Humanoid Robot Navigation • Odometry & Motion Calibration • Autonomous Navigation #ROS2 #Nav2 #AMCL #UnitreeG1 #Unitree #Robotics #HumanoidRobot #AutonomousNavigation