ROS 2 for the Unitree G1: From Setup to Sim-to-Real Control

About this course

ROS 2 for the Unitree G1: From Setup to Sim-to-Real Control teaches you the full command chain from software to motors. You’ll start with the humanoid software stack and ROS 2 fundamentals, then build real ROS 2 packages in Python and C++, integrate the Unitree G1 SDK for direct control, and finally connect everything through a ROS↔SDK bridge.

To keep the workflow safe and repeatable, you’ll also run the same control patterns in MuJoCo, so you can test, iterate, and debug in simulation before touching hardware.

Skills you'll gain

• Explain the humanoid software stack and trace command flow from app to motors
• Install ROS 2, source environments, and verify communication with demo nodes
• Create ROS 2 workspaces and build Python/C++ packages with colcon
• Understand nodes, topics, message types, and implement publisher/subscriber patterns
• Write ROS 2 control nodes in Python (timers, command publishing, logging)
• Write ROS 2 control nodes in C++ and compare performance/structure vs Python
• Install and explore the Unitree G1 SDK, build it, and run official examples
• Read joint states, send position commands, and apply safety limits via SDK control
• Build a ROS↔SDK bridge node that converts messages and publishes robot feedback
• Run MuJoCo with ROS 2 control for a sim-to-real development workflow