# Advanced SLAM & Perception Experiments on Quadruped Robots with ROS 2 Jazzy & Gazebo Harmonic

**URL:** <https://discourse.openrobotics.org/t/advanced-slam-perception-experiments-on-quadruped-robots-with-ros-2-jazzy-gazebo-harmonic/43318>\
**Category:** Projects\
**Tags:** ros2, gazebo, quadruped\
**Created:** [April 20, 2025, 4:53pm UTC](https://discourse.openrobotics.org/t/advanced-slam-perception-experiments-on-quadruped-robots-with-ros-2-jazzy-gazebo-harmonic/43318 "2025-04-20T16:53:02Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![alitekes](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/alitekes/32/24109_2.png) [@alitekes](https://discourse.openrobotics.org/u/alitekes)\
**Post date:** [April 20, 2025, 4:53pm UTC](https://discourse.openrobotics.org/t/advanced-slam-perception-experiments-on-quadruped-robots-with-ros-2-jazzy-gazebo-harmonic/43318/1 "2025-04-20T16:53:02Z")

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Hello everyone!  
I’m **[Ali Tekeş](http://alitekes.com.tr/)**, a Computer Engineering student and aspiring Robotics Software Engineer with a strong passion for **quadruped robots**. I specialize in simulations using **ROS 2 Jazzy** and **Gazebo Sim Harmonic** , focusing on areas like **SLAM** , **perception** , and **real-time sensor integration**. On my **YouTube channel** , I create and share hands-on projects featuring both **quadrupeds** and **drones** , aiming to inspire and contribute to the robotics community.

🎥 **Watch the full playlist:**  
[Quadruped SLAM & Perception Series](https://youtube.com/playlist?list=PLrHuix3PJQT-y0LWIhX-eJwklBDEdNdZA&si=0r_j-GMghnh_oKhZ)

Below is a quick overview of each video in the series:

- [**Object Detection with DETR in Gazebo Harmonic**](https://youtu.be/KVzWYITmtuY?si=zBaOZNakuUesLs5v) – Real‑time object detection in simulation using DETR.
- [**D‑LIO with Unitree Go2 (Quadruped)**](https://www.youtube.com/watch?v=k4HOyx_zuFE&pp=0gcJCX4JAYcqIYzv) – Implementing and testing the D‑LIO SLAM algorithm on a simulated Go2.
- [**LIO‑SAM with X3 Drone at Gazebo Sim Harmonic**](https://www.youtube.com/watch?v=mC-PQBUDFaA&list=PLrHuix3PJQT-y0LWIhX-eJwklBDEdNdZA&index=3&t=18s&pp=gAQBiAQB) – A full LIO‑SAM pipeline for aerial mapping in 3D.
- [**LIO‑SAM with Unitree Go2 (Quadruped)**](https://www.youtube.com/watch?v=-5dJ03SqxP8&list=PLrHuix3PJQT-y0LWIhX-eJwklBDEdNdZA&index=4&t=5s&pp=gAQBiAQB) – Evaluating LIO‑SAM performance on a four‑legged robot.
- [**X3 Drone SLAM with RTAB‑Map & 3D LiDAR**](https://www.youtube.com/watch?v=-pZ6i9gNH6U&list=PLrHuix3PJQT-y0LWIhX-eJwklBDEdNdZA&index=5&t=48s&pp=gAQBiAQB) – Camera‑free mapping using only 3D LiDAR and RTAB‑Map.
- [**Simulating a Quadruped Robot (Go2) with SLAM Toolbox**](https://www.youtube.com/watch?v=4YqzEuLOOY4&list=PLrHuix3PJQT-y0LWIhX-eJwklBDEdNdZA&index=6&t=19s&pp=gAQBiAQB) – Autonomous exploration on Go2 using SLAM Toolbox.
- [**Quadruped SLAM with RTAB‑Map**](https://www.youtube.com/watch?v=hbDkmIaJ6UI&list=PLrHuix3PJQT-y0LWIhX-eJwklBDEdNdZA&index=7&pp=gAQBiAQB) – Real‑time RTAB‑Map mapping in a complex simulated environment.

Please note that the source code for these demonstrations is not publicly available at this time, but I plan to release it soon.

Each demo uses tested configurations for **ROS 2 Jazzy** and **Gazebo Sim Harmonic** , and I’ve customized the URDFs to cameras, LiDARs, and Gazebo plugins as needed.

These videos are already helping students and who deal with quadruped robots to explore cutting‑edge SLAM and perception techniques. I’d love to hear your feedback or questions—feel free to leave a comment or open an issue if you’d like more details!

[![](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/6/7/670fc510645a06418a47aec9c1f47e0e03d0254c.jpeg "LIO-SAM with X3 Drone at Gazebo Sim Harmonic | ROS2 Jazzy") ](https://www.youtube.com/watch?v=mC-PQBUDFaA)

Thank you for watching. I hope these resources inspire your next robotics project!  
Contact me with [Linkedin](https://www.linkedin.com/in/ali-teke%C5%9F-b23aba247/).  
— Ali Tekeş

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**Author:** ![Javier\_Navarro\_Marti](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/javier_navarro_marti/32/18197_2.png) [@Javier\_Navarro\_Marti](https://discourse.openrobotics.org/u/Javier_Navarro_Marti)\
**Post date:** [April 22, 2025, 8:18am UTC](https://discourse.openrobotics.org/t/advanced-slam-perception-experiments-on-quadruped-robots-with-ros-2-jazzy-gazebo-harmonic/43318/2 "2025-04-22T08:18:47Z")

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Hello!

It looks very cool, congratulations!

Are you posting the source code with a docker setup somewhere?

That would be super helpful for these cool open source projects

For example this user could benefit a lot from your contributions:

> [@Looking for Visual Odometry Resources in Simulation (ROS 2 + Gazebo)](http://discourse.ros.org/t/looking-for-visual-odometry-resources-in-simulation-ros-2-gazebo/43338):
>
> Hi, I’m working on a project that involves visual odometry, and I’m specifically looking to implement and test everything in simulation using ROS 2 (Preferably Humble or Jazzy) and Gazebo—no physical hardware or cameras involved. I’d really appreciate it if anyone could share: Tutorials or guides for setting up visual odometry pipelines in ROS 2 with Gazebo Recommended simulation setups (e.g., camera plugins, world files, robot models) Open-source packages or repos that work well in simulati…

Regards, Javier

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**Author:** ![alitekes](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/alitekes/32/24109_2.png) [@alitekes](https://discourse.openrobotics.org/u/alitekes)\
**Post date:** [April 22, 2025, 9:21am UTC](https://discourse.openrobotics.org/t/advanced-slam-perception-experiments-on-quadruped-robots-with-ros-2-jazzy-gazebo-harmonic/43318/3 "2025-04-22T09:21:55Z")

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Thanks. I cannot share the source code and details, but I am planning to share them after that.