Unitree Unilidar SDK User Manual page 10

You can leave other parameters in the configuration file with their default value.
If you have special needs such as changing the cloud topic name or IMU topic
name, you are allowed to configure them in the configuration file as well.
The defalut cloud topic and its frame name is:
- topic: "unilidar/cloud"
- frame: "unilidar_lidar"
The defalut IMU topic and its frame name is:
- topic: "unilidar/imu"
- frame: "unilidar_imu"
·Build
You can just build this ROS package as follows:
- Clone the repository:
```
git clone https://github.com/unitreerobotics/unilidar_sdk.git
```
- Compile:
```
cd unilidar_sdk/unitree_lidar_ros
catkin_make
```
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.
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