Unitree GO2 with ros2 packaging

[Juancams]

Hi!

My name is Juan Carlos Manzanares, and I belong to a robotics research group at the King Juan Carlos University (Spain) called Intelligent Robotics Lab. We are involved in different projects, such as mocap4ros2, nav2 marathoon, robocup, etc.

I am writing to you because we have recently purchased a unitree go2 robot, and we want to carry out several experiments, but when working with it we have realized that it is not packaged in the way that several robots are for ros2. By this I mean that we do not have the typical topics of /robot_description, /odom, /cmd_vel, /joint_states, ...

Due to this, we have started to create our own package, where some of your messages are located, with the idea of ​​achieving what was mentioned above, and many other things such as a ros2cli, support for nav2, simulation in gazebo, etc.

We would like to know if it would be possible to contribute to a branch in your repository so that we can continue with the development of these packages.

We are waiting for your response.

Thank you so much.