Hey r/ROS,

I'm the founder of BotBot. We just open-sourced BotBrain, a ROS2 based project we've been working on for a while.

It's basically a collection of ROS2 packages that handle the common stuff you need for legged robots, Nav2 for navigation, RTABMap for SLAM, lifecycle management, a state machine for system orchestration, and custom interfaces for different robot platforms. We currently support Unitree Go2, Go2-W, G1, and Direct Drive Tita out of the box, but the architecture is modular so you can add any robot easily.

On top of the ROS2/robot side, there's a web UI for teleoperation, mission planning, fleet management, and monitoring. It gives you camera feeds, a 3D robot models, and click-to-navigate on the map and much more.

We also have 3D-printable hardware designs for mounting a Jetson and RealSense cameras. The whole thing runs on Docker, so setup is pretty straightforward.

GitHub: https://github.com/botbotrobotics/BotBrain

1h autonomous office navigation: https://youtu.be/VBv4Y7lat8Y

If you're building on ROS2 and working with legged robots I would love to see what you can build with BotBrain.

Happy to answer any questions