Go2 Controller

This module provides the primary public API for controlling the Unitree Go2 robot.

Users should interact exclusively with Go2Controller, which exposes high-level functionality such as movement, video, audio, OCR, input, and LIDAR through properties.

class go2.core.controller.Go2Controller(hardware_type: HardwareType, execution_mode: ExecutionMode = ExecutionMode.BASIC)

Bases: object

Primary control interface for the Unitree Go2 robot.

This class is the main entry point that users interact with. It manages hardware initialization, module lifecycles, safety checks, and shutdown.

Modules are accessed via properties rather than direct instantiation.

Notes

• All hardware access is routed through this controller.

• Modules creation, initialization, and shutdown is handled automatically.

• Supports both SDK-backed hardware and a Mujoco simulation.

See also

DogModule, ModuleRegistry

add_module(module_type: ModuleType, **kwargs) → None

Add a module to the controller. Modules are initialized immediately upon addition. Manual module initialization is discouraged and should not be attempted. Duplicate module addition is prevented explicitly.

Modules are identified using ModuleType enums.

Parameters:

• module_type (ModuleType) – The type of module to add.

• **kwargs – Constructor arguments passed to the module implementation.

Raises:

• ValueError – If the module type is not registered.

• ValueError – If the module type depends on native hardware support, but the controller is not set up to provide it.

property audio: AudioModule

Access the audio control module.

Raises:

RuntimeError – If the module is not loaded or shutdown has been requested.

has_module(module_type: ModuleType) → bool

Check whether a module is currently loaded.

property input: InputModule

Access the input control module.

Raises:

RuntimeError – If the module is not loaded or shutdown has been requested.

is_shutdown_requested() → bool

Check if shutdown has been requested

property lidar: LIDARModule

Access the lidar control module.

Raises:

RuntimeError – If the module is not loaded or shutdown has been requested.

property movement: MovementModule

Access the movement control module.

Raises:

RuntimeError – If the module is not loaded or shutdown has been requested.

property ocr: OCRModule

Access the ocr control module.

Raises:

RuntimeError – If the module is not loaded or shutdown has been requested.

register_cleanup_callback_post_module_shutdown(callback: Callable[[], None])

Register a cleanup callback to be executed during safe shutdown after modules are stopped, but before hardware is released.

Parameters:

callback (callable) – Zero-argument function to execute during shutdown.

register_cleanup_callback_pre_module_shutdown(callback: Callable[[], None])

Register a cleanup callback to be executed during safe shutdown before modules are stopped and before hardware is released.

Parameters:

callback (callable) – Zero-argument function to execute during shutdown.

safe_shutdown()

Perform a coordinated and safe shutdown.

This method:

• Stops movement immediately

• Signals shutdown to all subsystems

• Shuts down all modules

• Executes registered cleanup callbacks

• Releases hardware resources

Important

Select modules depend on ROS2 nodes. These lifetime of these nodes must handled cleanly on process termination. Therefore, it is critical that students ALWAYS call safe_shutdown() to ensure proper shutdown of ROS2. This called automatically on process crash (via SIGINT or SIGTERM). However, it is fully the user’s responsibility to call this method upon normal (error free) script exit. Failing to follow this can (and probably will) result in zombie ROS2 processes, unreleased resources, and UB.

Notes

• This method is idempotent and may be safely called multiple times.

property video: VideoModule

Access the video capture module.

Raises:

RuntimeError – If the module is not loaded or shutdown has been requested.

Hardware Support Types

class go2.hardware.hardware_type.HardwareType(value)

Bases: Enum

Enumeration passed upon creation of a Go2Controller instance.

NATIVE = 1

Commands should act upon an actual Unitree-Go2 robot.

VIRTUAL = 2

Commands should act upon the simulator (launched on controller creation in ‘VIRTUAL’ mode).

Module Management

class go2.core.registry.ExecutionMode(value)

Bases: Enum

Enumeration passed upon creation of a Go2Controller instance. Dicates the available modules based on system installed packages.

Installation for all dependencies can be found here: https://github.com/7Swaize/go2-control/blob/main/docs/public/install/installation.md

ADVANCED = 2

Allows access to ALL modules.

BASIC = 1

Restricts access to the LIDAR module.

class go2.core.registry.ModuleType(value)

Bases: Enum

Enumeration of all supported default module categories.

This enum is used by the module registry to identify and construct modules dynamically.

AUDIO = 5

INPUT = 3

LIDAR = 6

MOVEMENT = 2

OCR = 4

VIDEO = 1

class go2.core.registry.ModuleRegistry

Bases: object

Central registry for all available modules.

The registry maps ModuleType values to their corresponding implementations and metadata. It is responsible for controlling which modules are available based on system configuration.

Notes

• This is an internal system component.

• Modules are registered at startup.

classmethod get_class(module_type: ModuleType) → Type[DogModule] | None

Retrieve the implementation class for a module type.

classmethod get_descriptor(module_type: ModuleType) → ModuleDescriptor | None

Retrieve the descriptor for a module type.

classmethod is_registered(module_type: ModuleType) → bool

Check whether a module type is registered.

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