# 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/49090>\
**Category:** Projects\
**Tags:** ros2, gazebo, harmonic\
**Created:** [April 21, 2025, 7:00pm UTC](https://discourse.openrobotics.org/t/advanced-slam-perception-experiments-on-quadruped-robots-with-ros-2-jazzy-gazebo-harmonic/49090 "2025-04-21T19:00:20Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![alitekes1](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/alitekes1/32/26682_2.png) [@alitekes1](https://discourse.openrobotics.org/u/alitekes1)\
**Post date:** [April 21, 2025, 7:00pm UTC](https://discourse.openrobotics.org/t/advanced-slam-perception-experiments-on-quadruped-robots-with-ros-2-jazzy-gazebo-harmonic/49090/1 "2025-04-21T19:00:20Z")

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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")

[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:** ![Lucas\_Costa](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/lucas_costa/32/30318_2.png) [@Lucas\_Costa](https://discourse.openrobotics.org/u/Lucas_Costa)\
**Post date:** [September 3, 2025, 3:08pm UTC](https://discourse.openrobotics.org/t/advanced-slam-perception-experiments-on-quadruped-robots-with-ros-2-jazzy-gazebo-harmonic/49090/2 "2025-09-03T15:08:45Z")

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Hi @alitekes1 , first of all, great work with the SLAM setup!

You mentioned you’re running ROS 2 Jazzy with LIO-SAM, and I had a quick question if you don’t mind pointing me in the right direction.

I’m also trying to use LIO-SAM on Jazzy, but my robot is running Ubuntu 24.04 LTS. The problem I’ve hit is that there doesn’t seem to be a `libgtsam-unstable-dev` package available for this Ubuntu version. From what I could find, it looks like the package is only officially available up to Ubuntu 22.04.

Were you able to get around this issue (assuming you’re on the same distro), and if so, how did you manage it? Any tips would be much appreciated!