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abizovnuralem / go2_ros2_sdk

Unofficial ROS2 SDK support for Unitree GO2 AIR/PRO/EDU
BSD 2-Clause "Simplified" License
152 stars 26 forks source link

No Odom and Lidar(PointCLoud) Topic #23

Closed David9696 closed 2 months ago

David9696 commented 2 months ago

Hi,

Thanks for sharing the package.

I can use this package to see the camera view from my go2 pro robot. I can see the IMU and go2_states as well.

But I cant see the point cloud(Lidar) from the robot. The topic output is empty. Also. there is no odom topic shown.

May I know what is the problem?

Thanks.

Regards,

David

abizovnuralem commented 2 months ago

Hello, Can you please provide a running rviz2 screenshot here? also, what wifi version are you using? it should be wifi 6

David9696 commented 2 months ago

Hi,

I am connecting the robot via Ethernet LAN cable. I can see the camera view and robot state. Is it a must to connect via wifi to see the lidar points?

Thanks.

abizovnuralem commented 2 months ago

yes, currently ethernet is not available. I am working on it.

David9696 commented 2 months ago

Thanks for your reply.

FYI, I connected the robot via LAN. For camera and joint state, I can see and subscribe the ros2 topic. This is a big breakthrough.

Thanks for your great works. Looking forward to have the lidar topic support via LAN. I would remain this issue to be remained open. Thanks.

heiheiHelix commented 2 months ago

Hi,

I am connecting the robot via Ethernet LAN cable. I can see the camera view and robot state. Is it a must to connect via wifi to see the lidar points?

Thanks.

Hi，

Hello, I'm also connected via Ethernet, but I can't see the camera or joints. Did you do any additional operations? I would be grateful if you could reply.

David9696 commented 2 months ago

Hi @abizovnuralem

Just to update. Apparently is the lidar on the robot is not working. Unitree has swapped the lidar. Now I can see the pointcloud from the robot.

Thanks.

David9696 commented 2 months ago

Hi, I am connecting the robot via Ethernet LAN cable. I can see the camera view and robot state. Is it a must to connect via wifi to see the lidar points? Thanks.

Hi，

Hello, I'm also connected via Ethernet, but I can't see the camera or joints. Did you do any additional operations? I would be grateful if you could reply.

U may follow the manual from Unitree for connecting via LAN.