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Display LIDAR with Rviz #3

Open abarnes6 opened 3 months ago

peyton-otey commented 5 days ago

All Official Unitree 4D LiDAR L1 Software (Windows 64-bit only:)

https://www.unitree.com/download/

L1 3D Model

Software and SDK

Unilidar Point Cloud Software

Unilidar SDK User Manual

Unilidar SDK Software Package

SLAM and DATA

L1 observed point cloud data

Open Source SLAM Software Package

peyton-otey commented 5 days ago

unitree_ros2 (Github):

https://github.com/unitreerobotics/unitree_ros2

(NOTE: Replace all instances of "foxy" with "humble" during the installation process.)

peyton-otey commented 5 days ago

All unitree_ros2 steps up to "Connect to Unitree robot" have been completed on 601159 (Ubuntu 22.04 computer in Mailroom) so far.

peyton-otey commented 3 days ago

https://oss-global-cdn.unitree.com/Lidar/Unilidar%20SDK%20User%20Manual_v1.0.pdf

Running "example_lidar" worked after following the above instructions with the LiDAR connected to the Ubuntu 22.04 computer in the mailroom. This simply shows that the LiDAR can be used with Ubuntu 22.04 for data collection.

peyton-otey commented 2 days ago

Current issue:

These seem to be the instructions that must be followed for a topic named "/unildar/cloud" to exist: https://github.com/unitreerobotics/unitree_ros2

This topic is needed before pointcloud data can be displayed in Rviz. After following the above instructions, replacing each instance of "foxy" with "humble", there were no errors, but "/unilidar/cloud" still does not show when running ros2 topic list.