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unitreerobotics / point_lio_unilidar

Point-LIO for Unitree L1 LiDAR.
GNU General Public License v2.0
135 stars 23 forks source link

Way of saving data on something other than laptop #10

Open fabianivulic opened 4 months ago

fabianivulic commented 4 months ago

I'm trying to use the sensor with a step motor, making it rotate quickly. However, I can't record a rosbag while it's rotating because the USB cable that needs to be in my laptop would wind around the step motor. To resolve this I've tried installing ROS Noetic on a Raspberry Pi 3 with Ubuntu Server 20.04 so it can be mounted on the step motor alongside a power bank. But when running catkin_make it doesn't get any further than 50% of the CXX object build. Even with catkin_make_isolated and/or using the -j1 flag. It either runs indefinitely or stumbles upon an out of memory issue. I've also tried running it on an Nvidia Jetson Nano which I managed to complete the catkin_make builds on but the flash file for the Jetson Nano runs Ubuntu 18.04 so the algorithm wasn't working as intended when trying to run it.

Are there any other ways to store the data that the LiDAR outputs so I can view it afterwards on my laptop to look at the results?

lingbomeng commented 4 months ago

Why not use a Slip Ring to connect the lidar?