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基于go2_SDK和ROS1实现的宇树机器狗导航系统。通过改写SDK，实现了ROS1话题(IMU、机器人位姿、雷达)的发布，并构建了支持大模型语言控制的导航框架。系统支持两种导航方式：传统RVIZ目标点导航，以及通过大模型解析文本指令(如方向、距离)实现导航。文章详细说明了SDK安装、例程编译和导航框架部署的步骤，并提供了开源代码(GitHub: qoiu)。大模型部分采用本地知识库或API调用实现任务分解。该系统为go2机器狗提供了完整的ROS1导航解决方案。
☆21Jul 15, 2025Updated 7 months ago
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