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Built go2_navigation, a ROS2 package that brings autonomous navigation to a Unitree Go2 quadruped. The robot carries a custom payload rig (a spinning 3D LiDAR, a camera, and an onboard compute box on a machined aluminum frame) feeding point clouds and odometry into the navigation stack for online mapping, obstacle avoidance, and goal directed path following. The robot and its payload are modeled in URDF and tested against Gazebo worlds ranging from an industrial plant to forested terrain, where SLAM builds an occupancy grid and the planner traces a path through it before anything runs on hardware. The package ships launch files that bring up the sensor drivers, TF tree, and RViz2 visualization together, with parameters split into YAML config so the same stack runs in simulation or on the physical robot.
