abizovnuralem / go2_omniverse Goto Github PK

Unitree Go2, Unitree G1 support for Nvidia Isaac Lab (Isaac Gym / Isaac Sim)

License: BSD 2-Clause "Simplified" License

Python 92.91% Shell 5.94% CMake 1.14%

go2 nvidia omniverse orbit unitree-go2 isaac-gym isaac-sim isaac-lab isaaclab g1 unitree-g1 digitaltwins robot-learning robotics

go2_omniverse's Introduction

Welcome to the Unitree Go2/G1 Digital Twins Project!

We are thrilled to announce that the Unitree Go2/G1 robot has now been integrated with the Nvidia Isaac Sim 4.0 (Isaac Lab), marking a major step forward in robotics research and development. The combination of these two cutting-edge technologies opens up a world of possibilities for creating and testing algorithms in a variety of simulated environments.

Get ready to take your research to the next level with this powerful new resource at your fingertips!

Real time Go2 Balancing:

Real time G1 Balancing:

Go2 Ros2 Camera stream:

URDF real-time joints sync:

Foot force data stream:

Real-time RTX lidar stream:

Custom envs (Office):

Custom envs (Warehouse):

VR support:

Project RoadMap:

PPO balancing algorithm ✅
Keyboard real time control ✅
Camera stream to ROS2 ✅
RTX Lidar stream to ROS2 ✅
IMU data stream to ROS2 ✅
URDF real-time joints sync ✅
Foot force data stream ✅
Real-time control from ROS2 ✅
Nav2 with Slam_toolbox ✅
Bunch of RL-envs for custom dog training ✅
Custom numbers of robots ✅
Added G1 Unitree support ✅

Your feedback and support mean the world to us.

If you're as enthusiastic about this project as we are, please consider giving it a ⭐ star on our GitHub repository.

Your encouragement fuels our passion and helps us develop our RoadMap further. We welcome any help or suggestions you can offer!

Together, let's push the boundaries of what's possible with the Unitree Go2/G1 and ROS2!

System requirements

You need to install:

Ubuntu 22.04
Nvidia Isaac Sim 4.0
Nvidia Isaac Lab
Ros2 Humble

Full instruction:

https://isaac-sim.github.io/IsaacLab/source/setup/installation/binaries_installation.html

Some suggestions:

You need to check nvidia-smi, it should work, before installing Isaac Sim 4.0
You need to install Miniconda and execute: conda config --set auto_activate_base false
Install Omniverse launcher and then install Isaac Sim 4.0.
Create conda env then activate it, also execute ./isaaclab.sh --install Also, you need to install ROS2 on your system and configure it:

https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_ros.html#isaac-sim-app-install-ros

Downloading the code

To start with the local development environment, clone this repo:

git clone https://github.com/abizovnuralem/go2_omniverse/ --recurse-submodules -j8 --depth=1

Setup the Unitree L1 Lidar:

First, you need to copy files from Isaac Sim folder to your local Isaac Sim installation in order to use Unitree L1 lidar inside Orbit.

1. You need to replace original file that located in ~/.local/share/ov/pkg/isaac-sim-4.0.0/exts/omni.isaac.sensor/config/extrensiom.toml 
with Isaac_sim/extension.toml in this repo.
2. You need to add Unitree_L1.json to IsaacLab repo folder, where IsaacLab/source/exts/omni.isaac.sensor/data/lidar_configs/Unitree/Unitree_L1.json will be the final path (If it doesnt exists, create it)

Usage

The current project was tested on Ubuntu 22.04, IsaacSim 4.0 with Isaac Lab and Nvidia Driver Version: 545. To start the project with Unitree GO2, execute:

./run_sim.sh

To start the project with Unitree G1, execute:

./run_sim_g1.sh

You can control the dog using "WASD" keyboard commands

ROS2 SDK

You can use https://github.com/abizovnuralem/go2_ros2_sdk as a basement for your ROS2 setup.

Select custom env

To use predifined custom envs, you need to download files from https://drive.google.com/drive/folders/1vVGuO1KIX1K6mD6mBHDZGm9nk2vaRyj3?usp=sharing and place them to /envs folder. Then you can execute it via python main.py --custom_env=office or python main.py --custom_env=warehouse commands (The whole cmd you can read from run_sim script). If you are doing it first time, it will take 2-3 minutes to configure the env. Please, wait.

Development

To contribute or modify the project, refer to these resources for implementing additional features or improving the existing codebase. PRs are welcome!

VR support

To enable VR support on linux will take some time, but it works! I have tested it on:

Ubuntu 22.04
Nvidia drivers are 545.29.06
SteamVR 2.4.4 (IMPORTANT! It should be 2.4.4) and you need to go to Compatibility tab (Inside Steam app) and "Force the use of a specific Steam Play compatibility tool" and switch to "Steam-Play-None", additional info you can find in ALVR github issues tab.
ALVR streamer 20.8.1 + Oculus Quest 2 (client ALVR you can install via SideQuest app) (How to install it: https://github.com/alvr-org/ALVR)
Execute IsaacSim, Go to Window -> Extensions, find STEAMVR INPUT/OUTPUT then enable it and enable AutoLoad. Reopen IsaacSim. Use OpenXR mode.
Enjoy Omniverse in VR mode!

Thanks

Special thanks to Leul Tesfaye for his expertise in Orbit lidars and Tamas @tfoldi for contributing to this project.

License

This project is licensed under the BSD 2-clause License - see the LICENSE file for details.

go2_omniverse's People

Contributors

Stargazers

Watchers

Forkers

timbojones91 tfoldi kimjihong190 arqam-ai santoshchaganti aswxas aaliujs gaiyi7788 robmurrer curieuxjy wentdong kraga922 yucnet 01bear wataru-oshima-tokyo

go2_omniverse's Issues

Crashes on launch

/run_sim.sh
#All required rosdeps installed successfully
Starting >>> carter_navigation
Starting >>> custom_message
Starting >>> isaac_ros2_messages
Starting >>> isaac_ros_navigation_goal
Starting >>> isaac_tutorials
Finished <<< carter_navigation [0.23s]
Finished <<< isaac_tutorials [0.23s]
Finished <<< isaac_ros2_messages [0.31s]
Finished <<< custom_message [0.32s]
Finished <<< isaac_ros_navigation_goal [0.53s]

Summary: 5 packages finished [0.68s]
#All required rosdeps installed successfully
Starting >>> go2_interfaces
Finished <<< go2_interfaces [0.35s]

Summary: 1 package finished [0.49s]
[INFO][AppLauncher]: Loading experience file: /home/param/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/app/../../../../../../apps/isaaclab.python.kit
[Warning] [omni.isaac.kit.simulation_app] Modules: ['omniverse_sim', 'omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [omni.isaac.kit.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
Starting kit application with the following args: ['/home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/home/param/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/app/../../../../../../apps/isaaclab.python.kit', '--/app/tokens/exe-path=/home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omni', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=True', '--/app/fastShutdown=True', '--ext-folder', '/home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/exts', '--ext-folder', '/home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/apps', '--/renderer/activeGpu=0', '--/physics/cudaDevice=0', '--portable', '--/app/window/hideUi=False']
Passing the following args to the base kit application: ['--robot_amount', '2', '--robot', 'go2']
Loading user config located at: '/home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omni/data/Kit/Isaac-Sim/4.0/user.config.json'
[Info] [carb] Logging to file: /home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omni/logs/Kit/Isaac-Sim/4.0/kit_20240707_163211.log
2024-07-07 23:32:11 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
[0.035s] [ext: omni.kit.async_engine-0.0.0] startup
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2024-07-07 23:32:11 [216ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) Graphics (RPL-S)
2024-07-07 23:32:11 [216ms] [Warning] [gpu.foundation.plugin] Skipping unsupported non-NVIDIA GPU: Intel(R) Graphics (RPL-S)

|---------------------------------------------------------------------------------------------|
| Driver Version: 545.29.06 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA GeForce RTX 4080 Laptop.. | Yes: 0 | | 12282 MB | 10de | 0 |
| | | | | | 27e0 | 63ac250e.. |
| | | | | | 1 | |
|---------------------------------------------------------------------------------------------|
| 1 | Intel(R) Graphics (RPL-S) | | | 48020 MB | 8086 | 0 |
| | | | | | a788 | 868088a7.. |
| | | | | | 0 | |
|=============================================================================================|
| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 6.5.0-41-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
| Processor: 13th Gen Intel(R) Core(TM) i9-13900HX | Cores: 24 | Logical: 48
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 64026 | Free Memory: 56704
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|---------------------------------------------------------------------------------------------|
2024-07-07 23:32:11 [409ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
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Warp 1.1.0 initialized:
CUDA Toolkit 11.5, Driver 12.3
Devices:
"cpu" : "x86_64"
"cuda:0" : "NVIDIA GeForce RTX 4080 Laptop GPU" (12 GiB, sm_89, mempool enabled)
Kernel cache:
/home/param/.cache/warp/1.1.0
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[2.528s] [ext: omni.graph.image.core-0.3.2] startup
[2.532s] [ext: omni.physx.vehicle-106.0.16] startup
[2.542s] [ext: omni.kit.manipulator.prim.usd-106.0.1] startup
[2.544s] [ext: omni.kit.manipulator.prim.fabric-106.0.1] startup
[2.545s] [ext: omni.graph.image.nodes-1.0.2] startup
[2.546s] [ext: omni.physx.camera-106.0.16] startup
[2.553s] [ext: omni.kit.manipulator.prim-106.0.0] startup
[2.553s] [ext: omni.graph.nodes-1.141.2] startup
[2.560s] [ext: omni.graph.ui_nodes-1.24.1] startup
[2.565s] [ext: omni.kit.manipulator.selection-104.0.9] startup
[2.567s] [ext: omni.kit.widget.layers-1.7.9] startup
[2.591s] [ext: omni.kit.window.toolbar-1.6.1] startup
[2.593s] [ext: omni.graph.scriptnode-1.18.2] startup
[2.595s] [ext: omni.graph.bundle.action-2.0.4] startup
[2.596s] [ext: omni.physx.cct-106.0.16] startup
[2.613s] [ext: omni.physx.graph-106.0.16] startup
[2.633s] [ext: omni.physx.supportui-106.0.16] startup
[2.663s] [ext: omni.physx.telemetry-106.0.16] startup
[2.667s] [ext: omni.kit.widget.material_preview-1.0.16] startup
[2.669s] [ext: omni.sensors.tiled-0.0.3] startup
[2.672s] [ext: omni.syntheticdata-0.6.7] startup
[2.694s] [ext: omni.warp-1.1.0] startup
[2.710s] [ext: omni.physx.bundle-106.0.16] startup
[2.710s] [ext: omni.kit.window.material_graph-1.8.15] startup
[2.779s] [ext: omni.isaac.debug_draw-0.7.1] startup
[2.812s] [ext: omni.sensors.nv.common-1.0.1] startup
[2.842s] [ext: omni.replicator.core-1.11.8] startup
2024-07-07 23:32:14 [2,845ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template
[2.930s] [ext: omni.kit.menu.create-1.0.12] startup
[2.933s] [ext: omni.sensors.nv.materials-1.0.0] startup
[2.935s] [ext: omni.isaac.range_sensor-3.0.1] startup
[2.959s] [ext: omni.isaac.core_nodes-1.15.4] startup
[2.976s] [ext: omni.sensors.nv.wpm-1.0.0] startup
[2.978s] [ext: omni.kit.actions.window-1.1.1] startup
[2.983s] [ext: omni.kit.selection-0.1.4] startup
[2.985s] [ext: omni.sensors.nv.radar-1.0.1] startup
[2.990s] [ext: omni.sensors.nv.lidar-1.0.1] startup
[2.995s] [ext: omni.kit.menu.file-1.1.9] startup
[3.000s] [ext: omni.kit.menu.edit-1.1.19] startup
[3.009s] [ext: omni.isaac.sensor-11.3.0] startup
[3.082s] [ext: omni.kit.hotkeys.window-1.4.5] startup
[3.092s] [ext: omni.kit.property.isaac-0.2.3] startup
[3.099s] [ext: omni.kit.property.layer-1.1.5] startup
[3.102s] [ext: omni.kit.stage_column.payload-2.0.0] startup
[3.106s] [ext: omni.kit.stage_column.variant-1.0.13] startup
[3.111s] [ext: omni.kit.stagerecorder.core-105.0.5] startup
[3.115s] [ext: omni.rtx.window.settings-0.6.15] startup
[3.118s] [ext: omni.kit.widget.live-2.1.6] startup
[3.120s] [ext: omni.kit.viewport.menubar.camera-105.1.8] startup
[3.124s] [ext: omni.kit.viewport.menubar.render-106.1.2] startup
[3.126s] [ext: omni.kit.viewport.menubar.settings-106.0.0] startup
[3.129s] [ext: omni.kit.viewport.rtx-104.0.1] startup
[3.129s] [ext: omni.kit.widget.cache_indicator-2.0.8] startup
[3.159s] [ext: omni.kit.property.audio-1.0.11] startup
[3.162s] [ext: omni.kit.widget.calendar-1.0.8] startup
2024-07-07 23:32:14 [3,148ms] [Warning] [omni.kit.widget.cache_indicator.cache_state_menu] Unable to detect Omniverse Cache Server. Consider installing it for better IO performance.
[3.164s] [ext: omni.kit.widget.stage_icons-1.0.3] startup
[3.165s] [ext: omni.hydra.scene_api-0.1.2] startup
[3.172s] [ext: omni.kit.property.geometry-1.3.0] startup
[3.175s] [ext: omni.kit.property.camera-1.0.6] startup
[3.177s] [ext: omni.kit.widget.extended_searchfield-1.0.27] startup
[3.182s] [ext: omni.kit.window.stage-2.5.9] startup
[3.186s] [ext: omni.kit.property.transform-1.5.1] startup
[3.189s] [ext: omni.kit.property.render-1.1.1] startup
[3.190s] [ext: omni.kit.property.light-1.0.8] startup
[3.192s] [ext: omni.kit.window.commands-0.2.5] startup
[3.193s] [ext: omni.kit.widget.timeline-105.0.1] startup
[3.194s] [ext: omni.kit.menu.stage-1.2.5] startup
[3.196s] [ext: omni.kit.property.bundle-1.2.11] startup
[3.197s] [ext: omni.kit.window.status_bar-0.1.6] startup
[3.201s] [ext: omni.kit.window.title-1.1.3] startup
[3.201s] [ext: omni.replicator.isaac-1.15.0] startup
[3.210s] [ext: omni.replicator.replicator_yaml-2.0.5] startup
[3.232s] [ext: omni.rtx.settings.core-0.6.0] startup
[3.238s] [ext: omni.kit.window.console-0.2.12] startup
[3.247s] [ext: semantics.schema.editor-0.3.4] startup
[3.252s] [ext: semantics.schema.property-1.0.2] startup
[3.254s] [ext: omni.kit.window.script_editor-1.7.6] startup
[3.257s] [ext: omni.kit.profiler.window-2.2.1] startup
2024-07-07 23:32:14 [3,245ms] [Warning] [omni.kit.profiler.window] remove _SpanInstance.lt and use insort 'key' arg instead
[3.352s] [ext: omni.isaac.utils-1.0.1] startup
[3.356s] [ext: omni.isaac.cloner-0.8.1] startup
[3.357s] [ext: omni.kit.window.stats-0.1.6] startup
[3.360s] [ext: isaaclab.python-1.0.0] startup
[3.361s] Simulation App Starting
[4.891s] app ready
[5.808s] Simulation App Startup Complete
[5.810s] Failed to solve some dependencies locally, syncing with extension registry...
[5.817s] [ext: omni.kit.registry.nucleus-0.0.0] startup
2024-07-07 23:32:19 [7,553ms] [Error] [omni.ext.plugin] Failed to resolve extension dependencies. Failure hints:
Can't find extension with name: omni.isaac.ros2_bridge
Available versions:
(none found)
Synced registries:
- kit/default : found 476 packages
- kit/sdk : found 471 packages
- kit/community : found 350 packages

Traceback (most recent call last):
File "/home/param/go2_omniverse/main.py", line 32, in
run_sim()
File "/home/param/go2_omniverse/omniverse_sim.py", line 181, in run_sim
create_front_cam_omnigraph(i)
File "/home/param/go2_omniverse/omnigraph.py", line 35, in create_front_cam_omnigraph
og.Controller.edit(
File "/home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.graph/omni/graph/core/_impl/controller.py", line 1171, in edit
return obj.__edit(obj, args=args, kwargs=kwargs)
File "/home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.graph/omni/graph/core/_impl/controller.py", line 1372, in __edit
return __do_the_edits()
File "/home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.graph/omni/graph/core/_impl/controller.py", line 1288, in __do_the_edits
nodes_constructed = obj._process_create_nodes( # noqa: PLW0212
File "/home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.graph/omni/graph/core/_impl/controller.py", line 512, in _process_create_nodes
nodes_constructed = [
File "/home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.graph/omni/graph/core/_impl/controller.py", line 513, in
obj.create_node(
File "/home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.graph/omni/graph/core/_impl/graph_controller.py", line 225, in create_node
return obj.__create_node(obj, args=args, kwargs=kwargs)
File "/home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.graph/omni/graph/core/_impl/graph_controller.py", line 307, in __create_node
raise og.OmniGraphError(f"Could not create node using unrecognized type '{node_type_id}'{more}")
omni.graph.core._impl.errors.OmniGraphError: OmniGraphError: Could not create node using unrecognized type 'omni.isaac.ros2_bridge.ROS2CameraHelper'. Perhaps the extension 'omni.isaac.ros2_bridge' is not loaded?
2024-07-07 23:32:19 [8,326ms] [Warning] [carb] [Plugin: omni.sensors.tiled.plugin] Module /home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.sensors.tiled-0.0.3+106.0.0.lx64.r/bin/libomni.sensors.tiled.plugin.so remained loaded after unload request
2024-07-07 23:32:19 [8,330ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/param/anaconda3/envs/isaaclab/lib/python3.10/site-packages/isaacsim/extscache/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request
2024-07-07 23:32:19 [8,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-07-07 23:32:19 [8,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-07-07 23:32:19 [8,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-07-07 23:32:19 [8,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-07-07 23:32:19 [8,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-07-07 23:32:19 [8,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-07-07 23:32:19 [8,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-07-07 23:32:19 [8,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-07-07 23:32:19 [8,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-07-07 23:32:19 [8,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-07-07 23:32:19 [8,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-07-07 23:32:19 [8,332ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2024-07-07 23:32:19 [8,417ms] [Warning] [carb] Recursive unloadAllPlugins() detected!

Error when launching ./run_sim.sh

Error occurs when running the simulation,

[Error] [omni.ext.plugin] Failed to resolve extension dependencies. Failure hints:
Synced registries:
- kit/default : found 502 packages
- kit/sdk : found 624 packages
- kit/community : found 342 packages

this error stops the simulation from running.

Ubuntu 22.04, Isaac 4.0, conda isaaclab environment.

Best regards

'Camera' object error

We get this error on startup (it still loads and seems to work ok).

AttributeError: 'Camera' object has no attribute '_rep_registry'
Exception ignored in: <function Camera.__del__ at 0x7f0454780ca0>
Traceback (most recent call last):
  File "/home/ubuntu/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py", line 139, in __del__
    for _, annotators in self._rep_registry.items():
AttributeError: 'Camera' object has no attribute '_rep_registry'

ROS topic issues (syncing/hz)

The command ros2 topic hz /robot0/front_cam/rgb does not return any info (even though I am getting images through it).
All the other topics report some data.
I am not able to sync the /robot0/front_cam/rgb and /robot0/point_cloud2 topics using message_filters.ApproximateTimeSynchronizer (or plain TimeSynchronizer). I can sync all the other topics. Any idea why?
/robot0/point_cloud2 has timestamps of 0 for all messages, like this:

header:
  stamp:
    sec: 0
    nanosec: 0

(perhaps this is why no hz can be computed).

Note: I am using RMW_IMPLEMENTATION=rmw_cyclonedds_cpp as it solved some issues I had (the default dds did not work across different user accounts).

Need Guidance on Using Nav2 for Navigation with ROS2 Humble for Go2 robots

I am currently using ROS2 Humble and Isaac Sim 4.0.0 to work with Go2 robots. According to the README file of this repository, Nav2 navigation is supported as indicated by the checklist item "9. Nav2 with Slam_toolbox ✅". However, after running ./run_sim.sh, I found no topics to assign goal positions to the robots. As explained in the instructions, the only available control method is using the WASD keys.

Additionally, in another repository go2_ros2_sdk, which is also mentioned in the README file that it can be the base for the ROS2 setup, it says that "Navigation (nav2) (in the current version is not working, need to fix params)".

I would like to request guidance on how I can enable and use Nav2 for navigation with Go2 robots. Specifically, I am looking for some instructions or examples on how to set goal positions via Nav2 and send /cmd_vel for each of my multiple robots following the setup explained in this repo.

Your assistance would be greatly appreciated.
Thank you for your help in advance

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