Go2 Navigation Overview

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

go2

Workflow	When to use	Blueprint	Docs
Live mapping	Explore a new space where the map updates every frame	unitree-go2	Navigation deep dive
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.

For hardware setup, simulation, and the full blueprint list, see the Go2 platform guide.

Generic

Workflow	When to use	Blueprint	Docs
Simulation, no robot	Run the raycaster and planner against a photoreal scan of a real house	habitat-nav	Habitat