Unitree Unilidar SDK User Manual 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
Publish the pointcloud data to a ROS topic
Publish the IMU data to a ROS topic
In addition, we provide a yaml file to configure the relevant parameters of the
lidar.
·Dependency
The dependencies include 'PCL' and 'ROS'.
We have verified that this package can successfully run under this environment:
Ubuntu 20.04
ROS noetic
PCL-1.10
unitree_lidar_sdk
You are suggested to configure an environment like this to run this package.
·Configuration
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 in 'unitree_li-
dar_ros/config/config.yaml' and change the 'port'name to yours. For example:
```
# Serial Port
port: "/dev/ttyYourUSBPortName"
```
2023 Unitree Robotics. All rights reserved.
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