feat(go2): publish validated full-stack voice navigation

[Origamii520]

Canonical review state

• the canonical reviewed full-stack candidate is agent/fix-humble-interface-overlays@657082f; the supervised navigation implementation published at c0d82e6 is unchanged
• current main@85c3ae2 contains the catalog image and maintainer-email updates but not the validated full stack
• Mapping and Navigation now use their official repository URLs and exact current PR heads
• no new approval file, one-off hard gate, or motion gate was added while preparing this review
• this PR is submitted Ready for review; Mapping #15, Navigation #9 and Client #10 remain linked for maintainers to merge in dependency order

Summary

• publish the already validated Robonix full stack for Unitree Go2 EDU: Client Chinese speech, semantic navigation, Nav2, guarded chassis control, Mapping/localization, Scene and operator Dashboard
• preserve the working stop/cancel/watchdog, fresh-state checks, single-controller ownership and human takeover path
• include generation-scoped map/localization support and the operator-facing launch/configuration surfaces used for the successful run
• pin reviewed Mapping and Navigation commits so the parent PR is reproducible
• align catalog/package maintainer metadata with zxq13204030517@163.com

Supervised physical result (2026-07-31)

• generation-1 long-distance outbound navigation issued through Chinese Client voice control succeeded
• Chinese Client autonomous return to the saved start succeeded; the operator accepted the small final placement deviation and retained a successful video
• wireless chassis motion, Mapping/localization, stop/cancel and human takeover had already been verified
• no powered-on robot test was repeated while publishing or cleaning up these commits

Obstacle-avoidance boundary

The MID-360 2D laser obstacle and inflation layers are active in the Nav2 configuration used by this stack. Real corridor planning and wall clearance were exercised, but a dedicated deliberately placed obstacle acceptance test has not been completed, so this PR does not claim full dynamic-obstacle validation. D435i remains a read-only RGB/depth preview source and is not connected to the navigation costmap.

Validation

• GitHub Actions offline-safety: passed on 657082f — https://github.com/syswonder/robot-unitree-go2/actions/runs/30994975222
• complete repository offline suite: 777 tests passed locally
• Go2 description QoS test remains ROS-independent while asserting reliable, transient-local, keep-last depth 1
• read-only diagnostic process-group test passed 30 consecutive runs after removing its startup scheduling race
• Navigation current rebased head d6132a3: 62 tests passed
• Mapping head 48adfc3: 74 focused tests passed
• Client replacement head 6556049: 40 repository tests plus 4 focused lifecycle checks passed; commit-authorship check passed
• git diff --check origin/main...HEAD: passed across all 30 introduced commits
• all introduced commits are authored and committed by the human contributor Origamii520, using the GitHub noreply address or the supplied primary address; the current authorship checker passed
• prohibited authorship, sign-off, review and testing trailers were not found

Material AI assistance is disclosed only as:

Assisted-by: Codex:gpt-5.6-sol [TOOL Codex]

No Signed-off-by, co-author, review or testing trailer was invented.

Scope and retained evidence

This PR does not add private maps, initial-pose sidecars, local semantic-landmark overrides, raw logs, recordings, browser profiles, build outputs, credentials or device-local configuration. Existing site-local artifacts remain preserved outside the PR. Two non-sensitive July 18 camera-view JPGs are retained with the published hardware-evidence report; they contain no terminal, account or credential content.

Dependencies and review status

• Mapping: feat(mapping): harden Go2 live map lifecycle service-map-rbnx#15 (48adfc3) — Ready, mergeable, maintainer notified
• Navigation: feat(navigation): isolate persistent Go2 runtime service-navigation-rbnx#9 (d6132a3) — rebased onto current main, Ready, mergeable, maintainer notified
• Client audio lifecycle: fix(audio): reap owned server on client shutdown robonix-client#10 (6556049) — replacement for closed #7, Ready, all reported checks passed
• Robonix loopback MCP host handling: fix(api): allow loopback MCP host headers robonix#188 — approved and merged
• Go2 catalog maintainer email: chore(catalog): update Go2 maintainer email #3 — validated and merged