Unitree Unilidar SDK User Manual page 6

An IMU msg is parsed!
stamp = 1683874160.559222, id = 729
quaternion (x, y, z, w) = [0.0131, -0.0091, 0.6888, -0.7225]
An IMU msg is parsed!
stamp = 1683874160.564979, id = 121
quaternion (x, y, z, w) = [0.0102, -0.0093, 0.7099, -0.7018]
An IMU msg is parsed!
stamp = 1683874160.568425, id = 122
quaternion (x, y, z, w) = [0.0118, -0.0096, 0.7099, -0.7018]
An IMU msg is parsed!
stamp = 1683874160.573472, id = 123
quaternion (x, y, z, w) = [0.0126, -0.0093, 0.7098, -0.7018]
An IMU msg is parsed!
stamp = 1683874160.577348, id = 124
quaternion (x, y, z, w) = [0.0128, -0.0093, 0.7099, -0.7018]
A Cloud msg is parsed!
stamp = 1683874145.535888, id = 1
cloud size = 278
first 10 points (x,y,z,intensity,time,ring) =
(-0.029885, -0.136897, 0.000448, 88.000000, 0.000000, 0)
(-0.035384, -0.171399, 0.005140, 91.000000, 0.000023, 0)
(-0.043000, -0.219542, 0.012437, 127.000000, 0.000046, 0)
(-0.054879, -0.294965, 0.024572, 132.000000, 0.000069, 0)
(-0.055288, -0.301204, 0.033170, 106.000000, 0.000093, 0)
(-0.054542, -0.300348, 0.041173, 101.000000, 0.000116, 0)
(-0.053764, -0.299285, 0.049148, 99.000000, 0.000139, 0)
(-0.056123, -0.318406, 0.060981, 92.000000, 0.000162, 0)
(-0.055230, -0.316827, 0.069422, 91.000000, 0.000185, 0)
(-0.051257, -0.294854, 0.072849, 128.000000, 0.000208, 0)
...
```
Here, we print the first 10 points of the pointcloud message and the quaternion of
the IMU message.
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.
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