Navigation

Goal-driven navigation: three ways to send a goal, live mapping or premap relocalization

Navigation turns a goal into planned, replanned motion. You can send that goal three ways - click a point in the viewer, call set_goal from Python, or say “go to the kitchen” through the agent - and all three drive the same stack. Start with Using navigation.

Under the hood, the Go2 stack uses a column-carving voxel map: each new LiDAR frame replaces the corresponding region of the global map entirely, so the map always reflects the latest observations. Map live as you drive, or return to a known space using a saved premap and relocalization.

Choose your workflow

Workflow	When to use	Blueprint	Docs
Live mapping	Explore a new space where the map updates every frame	unitree-go2	Using navigation
Premap + relocalization	Return to a known space and plan on a loop-closed map	unitree-go2-relocalization	Relocalization

Live column-carving maps are fast and reactive, but odometry drifts over long distances. For spaces you revisit, record once, run pose-graph optimization (PGO) offline, then relocalize against the exported premap at runtime.

Internals (voxel mapper, costmap, planner data flow): How navigation works. For hardware setup, simulation, and the full blueprint list, see the Go2 platform guide.