# New Open-Source Release for Quadruped Unitree Go2 – ROS 2 Jazzy × Gazebo Harmonic

**URL:** <https://discourse.openrobotics.org/t/new-open-source-release-for-quadruped-unitree-go2-ros-2-jazzy-x-gazebo-harmonic/43569>\
**Category:** ROS General\
**Created:** [May 6, 2025, 8:23am UTC](https://discourse.openrobotics.org/t/new-open-source-release-for-quadruped-unitree-go2-ros-2-jazzy-x-gazebo-harmonic/43569 "2025-05-06T08:23:40Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![khaledgabr77](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/khaledgabr77/32/6786_2.png) [@khaledgabr77](https://discourse.openrobotics.org/u/khaledgabr77)\
**Post date:** [May 6, 2025, 8:23am UTC](https://discourse.openrobotics.org/t/new-open-source-release-for-quadruped-unitree-go2-ros-2-jazzy-x-gazebo-harmonic/43569/1 "2025-05-06T08:23:40Z")

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I’ve just published a **ROS 2 Jazzy** integration package for the **Unitree Go2** built on the **CHAMP** quadruped controller—and you can try it right now:

🔗 GitHub: **[GitHub - khaledgabr77/unitree\_go2\_ros2: The package provides a complete ROS 2 Jazzy integration for the Unitree Go2 quadrupedal robot using the CHAMP controller framework.](http://github.com/khaledgabr77/unitree_go2_ros2)**

[Watch Demo on YouTube](https://www.youtube.com/watch?v=NUu7TaZhaQM&ab_channel=KhaledGabr)

### What’s Inside

- ✅ Full ROS 2 **Jazzy** integration with Gazebo **Harmonic**
- ✅ Custom-adapted **URDF** models for precise control
- ✅ Full simulation pipeline (spawn → RViz → teleop)
- ✅ Intuitive **teleoperation** capabilities
- ✅ Configurable **gait** parameters for different terrains

### Looking Ahead

I’m actively seeking collaborators to tackle:

- 🌍 **SLAM & mapping** plugins
- 🗺 **Navigation 2** for autonomous missions
- 🛠 Sensor models (IMU, 2D/3D LiDAR)

Passionate about legged robots or ROS 2? Let’s build something awesome together! Drop a comment, DM me, or open a PR.