This repository implements a full autonomy stack for the Unitree Go2 quadruped robot, enabling autonomous navigation to a goal point in unknown environments. The system integrates SLAM (point_lio_unilidar), global route planning (far_planner), local path following with obstacle avoidance (local_planner), terrain analysis, sensor transformation, and teleoperation. It supports both real-robot operation and simulation via a Unity bridge. The codebase is built on ROS2 (Foxy/Humble) and is designed for research and experimentation in autonomous exploration. The architecture is modular, consisting of ROS2 packages organized into base_autonomy, route_planner, slam, and utilities groups. Key entry points are shell scripts (system_simulation.sh, system_real_robot.sh) that launch the full stack. The SLAM module uses LiDAR-inertial odometry with an Iterated Kalman Filter on Manifolds (IKFoM) and an incremental k-d tree (ikd-Tree) for point cloud management. The route planner builds visibility graphs from LiDAR scans and plans paths using contour detection and graph search. The local planner follows waypoints while avoiding obstacles using a precomputed path library and real-time terrain analysis. Data flows begin with LiDAR and IMU sensor data, which are processed by SLAM to produce odometry and registered point clouds. The route planner consumes these to generate a global path, which is then refined by the local planner into velocity commands. The system also includes RViz plugins for interactive waypoint/goalpoint setting and teleoperation. External dependencies include ROS2, PCL, OpenCV, nlohmann/json, and the Unitree SDK. The simulation environment uses Unity and a custom TCP endpoint for ROS2-Unity communication. While the codebase is functional and implements advanced algorithms, it exhibits characteristics of a research prototype: duplicated vendored libraries (nlohmann/json in three packages), hardcoded parameters, large monolithic source files, and mixed ROS1/ROS2 idioms. Some components, such as the IKFoM toolkit and ikd-Tree, are self-contained and demonstrate high craftsmanship, making them candidates for reuse in other robotics projects.