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abizovnuralem / go2_ros2_sdk

Unofficial ROS2 SDK support for Unitree GO2 AIR/PRO/EDU
BSD 2-Clause "Simplified" License
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Farthest point cloud in the opposite direction of movement disappears when moving go2 #46

Closed xutianzhuo closed 2 weeks ago

xutianzhuo commented 2 weeks ago

Hi, thank you for sharing the code! When i start ros2 launch go2_robot_sdk robot.launch.py, I can see the point cloud data for point_cloud2, but the point cloud seems to have a range. When I move go2, the farthest point cloud in the opposite direction of movement disappears. It seems that the complete map cannot be saved. And I saw the same situation in the gif of Go2 Air/PRO/EDU lidar point cloud in your README. So, how can I save the complete point cloud map? Is there any setting that needs to be modified?

abizovnuralem commented 2 weeks ago

Hello, yes. You can save it via the params export MAP_SAVE=True export MAP_NAME="3d_map" After this you can use Meshlab to view it