Advertisement
Quick Links
Advertisement
Summary of Contents for Unitree Unilidar SDK
- Page 1 Unilidar SDK User Manual v 1.0 2023.05 Unitree Lidar...
- Page 2 目 录 Preface Uniliar SDK Introduction Dependency Configure Build Version History Uniliar ROS Introduction Dependency Configuration Build YAML configuration file description Version History Uniliar ROS2 Introduction Dependency Configuration Build launch.py configuration file description Version History...
- Page 3 Preface This repository is a SDK for [Unitree L1 LiDAR](https://www.unitree.com/LiDAR). You can use the code interfaces in this repository to obtain point cloud data and IMU data measured in our lidar, as well as configure related parameters. We provide three commonly used interfaces for our LiDAR: - if you prefer to use the original **C++ SDK** directly, you can refer to [READ- ME.md](./unitree_lidar_sdk/README.md);...
- Page 4 Unilidar SDK ·Introduction Unilidar SDK is a cmake package, which is specially used for running ‘Unitree LiDAR L1’. The functions that this package can provide includes: Parse the raw data transmitted from the lidar hardware, and convert it into pointcloud and IMU data...
- Page 5 Turn on all the LED lights ... Turn off all the LED lights ... Set LED mode to: FORWARD_SLOW ... Set LED mode to: REVERSE_SLOW ... Set LED mode to: SIXSTAGE_BREATHING ... Set Lidar working mode to: NORMAL_MODE ... 2023 Unitree Robotics. All rights reserved.
- Page 6 The meanings of each variable are as follows: Dirty Percentage: The dirt percentage of the lidar. If the dirt percentage is high, clean the radar optical window. stamp: the timestamp of the data, in seconds. id: the identifier of the data. 2023 Unitree Robotics. All rights reserved.
- Page 7 To solve this error, you can use the following command to add the current user to the dialout group: sudo usermod -a -G dialout $USER After adding the user to the dialout group, you need to log out and log back in for the changes to take effect. 2023 Unitree Robotics. All rights reserved.
- Page 8 Modify the `initialize()` function to check whether the specified serial port exist. If the serial port name does not exist, initialization fails and `return -1` rather than throw out an error unexpectedly。 Add z bias to lidar basis plane 2023 Unitree Robotics. All rights reserved.
- Page 9 Unilidar ROS ·Introduction Unilidar ROS is a ROS package, which is specially used for running Unitree LiDAR products. The functions that this package can provide includes: Parse the raw data transmitted from the lidar hardware, and convert it into pointcloud and IMU data...
- Page 10 The compiled content will be saved in the unilidar_sdk/unitree_lidar_ros/devel. ·Run Then you need to source this ROS packege environment and then directly run the launch file: source devel/setup.bash ros launch unitree_lidar_ros run.launch 2023 Unitree Robotics. All rights reserved.
- Page 11 In the Rviz window, you will see our lidar pointcloud like this: You can change the 'Fixed Frame' to the imu frame 'unilidar_imu' ,so that you can view the IMU quaternion vector: 2023 Unitree Robotics. All rights reserved.
- Page 12 18. imu_frame：The name of the coordinate system for the IMU data, with a default value of 'unilidar_imu'. imu_topic：The ROS topic name for the IMU data, with a default value of 'unili- dar/imu'. 2023 Unitree Robotics. All rights reserved.
- Page 13 ·Version History v1.0.0 （2023.05.04） Support ‘Unilidar_sdk’ : v1.0.0 v1.0.1 （ 2023.05.05） Support ‘Unilidar_sdk’ : v1.0.1 v1.0.2 （2023.05.12） Support ‘Unilidar_sdk’ : v1.0.3 v1.0.3 （2023.05.30） Support ‘Unilidar_sdk’ : v1.0.4 2023 Unitree Robotics. All rights reserved.
- Page 14 Unilidar ROS2 ·Introduction Unilidar ROS2 is a ROS2 package, which is specially used for running Unitree LiDAR products. The functions that this package can provide includes: Parse the raw data transmitted from the lidar hardware, and convert it into pointcloud and IMU data...
- Page 15 Then you need to source this ROS2 packege environment and then directly run the launch file: source install/setup.bash ros2 launch unitree_lidar_ros2 launch.py To visualize our cloud in Rviz2, you need to run: rviz2 -d src/unitree_lidar_ros2/rviz/view.rviz In the Rviz window, you will see our lidar pointcloud like this: 2023 Unitree Robotics. All rights reserved.
- Page 16 0. cloud_frame：The name of the coordinate system for the point cloud data, with a default value of 'unilidar_lidar'. cloud_topic：The ROS topic name for the point cloud data, with a default value of 'unilidar/cloud'. 2023 Unitree Robotics. All rights reserved.
- Page 17 Support ‘Unilidar_sdk’ : v1.0.1 This manual will not be notified separately if updated. You can check the latest version of the "User Manual" on the official website of Unitree. https://www.unitree.com/en/download Unitree is a trademark of Hangzhou Yushu Technology Co., Ltd.
Need help?
Do you have a question about the Unilidar SDK and is the answer not in the manual?
Questions and answers