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This project is the complete software system for the AgiBot X1 humanoid robot, comprising two subsystems that communicate at runtime via ROS2 topics:
- Motion Control (
motion_control/): Built on AimRT middleware with reinforcement learning policies for locomotion control. Includes RL policy inference, PD controllers, state machines, and hardware drivers. - Navigation (
navigation/): Built on ROS2 Nav2 stack using Livox MID-360 LiDAR + FastLIO2 for SLAM, with MPPI controller for autonomous navigation and obstacle avoidance.
For detailed AimRT tutorials, visit the AimRT official website.
┌─────────── Navigation (ROS2 colcon) ──────────────┐ ┌── Motion Control (CMake + AimRT) ──┐
│ │ │ │
│ Livox Driver ──→ FastLIO2 ──→ /Odometry ──────┐ │ │ joy_stick_module │
│ /cloud_reg.. │ │ │ └── /cmd_vel ──┐ │
│ ↓ │ │ │ └── /walk_mode │ │
│ odom_bridge.py │ │ │ ↓ │
│ ↓ │ │ │ control_module │
│ Nav2 (AMCL + MPPI + Costmap) │ │ │ sub: /cmd_vel_limiter ◄── /cmd_vel │
│ controller_server ──→ /cmd_vel ───────────────┼───┼─────┼──→ (Nav2 or Joystick) │
│ │ │ → RL Policy (ONNX) → Motor Cmd │
└─────────────────────────────────────────────────────┘ └──────────────────────────────────────┘
For detailed architecture, see ARCHITECTURE.md.
F1/
├── motion_control/ # Motion Control subsystem (CMake + AimRT)
│ ├── CMakeLists.txt
│ ├── assistant/ # ROS2 auxiliary tools
│ ├── install/linux/bin/ # Launch scripts & configs
│ │ ├── run.sh # Real robot entry
│ │ ├── run_sim.sh # Simulation entry
│ │ └── cfg/ # x1_cfg.yaml / x1_cfg_sim.yaml
│ ├── module/ # Core modules
│ │ ├── control_module/ # RL policy inference + PD controller + state machine
│ │ ├── dcu_driver_module/ # Real robot DCU hardware communication
│ │ ├── joy_stick_module/ # Joystick remote control
│ │ ├── sim_module/ # MuJoCo simulation
│ │ └── ankle_identifier_module/
│ ├── pkg/ # Shared library packaging → libpkg1.so
│ └── protocols/ # Message protocol definitions
│
├── navigation/ # Navigation subsystem (ROS2 colcon)
│ ├── livox_ros_driver2/ # MID-360 LiDAR driver
│ ├── fast_lio2/ # LIO odometry (SLAM)
│ ├── humanoid_sim/ # Gazebo simulation + Nav2 config + odom_bridge
│ ├── open3d_loc/ # Open3D 3D global localization
│ ├── livox_laser_simulation_ros2/ # Gazebo LiDAR simulation plugin
│ ├── MuJoCo-LiDAR/ # MuJoCo LiDAR sensor simulation (pip)
│ └── agibot_x1_train/ # RL policy training code (Isaac Gym, standalone)
│
├── cmake/ # CMake modules (GetAimRT, NamespaceTool, etc.)
├── CMakeLists.txt # Top-level CMake (builds motion_control)
├── build.sh # Build motion_control
├── build_nav.sh # Build navigation (colcon)
├── run_nav_sim.sh # Simulation navigation one-click launch
├── run_nav_real.sh # Real robot navigation one-click launch
├── format.sh # Code formatting
├── ARCHITECTURE.md # Architecture document
├── doc/ # Development docs
└── test.sh # Test scripts- GCC-13
- CMake ≥ 3.24
- ROS2 Humble
- ONNX Runtime
sudo apt update
sudo apt install -y build-essential cmake git libprotobuf-dev protobuf-compiler
git clone --recursive https://github.com/microsoft/onnxruntime
cd onnxruntime
./build.sh --config Release --build_shared_lib --parallel
cd build/Linux/Release/
sudo make install# Simulation dependencies
sudo apt install jstest-gtk libglfw3-dev libdart-external-lodepng-dev
# AimRT mirror source (for China)
source url_gitee.bashrc- Install the Linux realtime kernel patch for real-robot debugging.
# Nav2 navigation stack
sudo apt install -y \
ros-humble-nav2-bringup \
ros-humble-nav2-costmap-2d \
ros-humble-nav2-controller \
ros-humble-nav2-planner \
ros-humble-tf2-tools \
ros-humble-octomap-server
# Gazebo simulation (optional)
sudo apt install -y ros-humble-gazebo-ros-pkgs
# Livox SDK2 (required by MID-360 driver)
# See livox_ros_driver2 documentationsource /opt/ros/humble/setup.bash
source url_gitee.bashrc
./build.sh $DOWNLOAD_FLAGSsource /opt/ros/humble/setup.bash
./build_nav.shMuJoCo-LiDAR and agibot_x1_train are optional pip packages:
cd navigation && pip install -e MuJoCo-LiDAR # MuJoCo LiDAR simulation cd navigation && pip install -e agibot_x1_train # RL training (requires Isaac Gym)
| Scenario | Motion Control | Navigation | Description |
|---|---|---|---|
| Sim walking (joystick) | run_sim.sh |
— | Joystick-controlled walking |
| Real robot walking | run.sh |
— | Joystick-controlled walking |
| Sim navigation (sim_module) | run_sim.sh |
run_sim_nav.sh |
Production control chain + MuJoCo LiDAR bridge |
| Sim navigation (Gazebo) | run_sim.sh |
run_nav_sim.sh |
Gazebo physics + Nav2 |
| Real robot navigation | run.sh |
run_nav_real.sh |
Navigation stack + locomotion |
Simulation: (connect joystick receiver first)
cd build/
./run_sim.shReal Robot: (configure library path on first run)
# First-time setup (only once)
sudo vi /etc/ld.so.conf
# Add:
# /opt/ros/humble/lib
# {your_project_path}/build/install/lib
sudo ldconfig
# Launch
cd build/
./run.shSimulation navigation (one-click, tmux multi-window):
source navigation/install/setup.bash
./run_nav_sim.sh
# Windows: [0] Gazebo [1] FastLIO2 [2] Nav2 [3] OctoMapReal robot navigation (one-click, tmux multi-window):
source navigation/install/setup.bash
./run_nav_real.sh
# Windows: [0] Livox driver [1] FastLIO2 [2] Nav2For control instructions, see Joystick Control Module.
The code in this project runs on the AimRT framework. Source code is released under the MULAN license.
If you have any questions or issues, please use Issues. To contribute code, fork the repository and submit a pull request.