Unitree Unilidar SDK User Manual 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
Get the pointcloud data
Get the IMU data
The output pointcloud defaultly uses a self-defined data type so that this SDK
doesn't rely too much on external dependencies. In other case,
If you are used to use [Point Cloud Library](https://pointclouds.org/), you can use
the header `unitree_lidar_sdk_pcl.h` to transform our pointcloud to PCL format;
If you wish to directly use a [ROS](https://www.ros.org/) package, you are also
able to utilize our ROS pacakge for this lidar.
·Dependency
We have verified that this package can successfully run under this environment:
Ubuntu 20.04
This SDK hardly depends on any external dependencies.
But if you want to use PCL cloud format, you need to install one.
·Configure
Connect your lidar to your computer with a USB cable, then confirm your serial port
name for lidar:
```
$ ls /dev/ttyUSB*
/dev/ttyUSB0
```
The default serial port name is '/dev/ttyUSB0' .
If it is not the default one, you need to modify the configuration parameter in `ex-
ample_lidar.cpp`.
2023 Unitree Robotics. All rights reserved. 2023 Unitree Robotics. All rights reserved.
3