{"id":344768,"date":"2023-07-07T14:56:17","date_gmt":"2023-07-07T05:56:17","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=344768"},"modified":"2023-07-21T12:01:50","modified_gmt":"2023-07-21T03:01:50","slug":"catkin_lidar_slam_3d","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/catkin_lidar_slam_3d.html","title":{"rendered":"\u3010Unitree Go1\u3011\u30c7\u30d5\u30a9\u30eb\u30c8\u30d7\u30ed\u30b0\u30e9\u30e0UnitreeSLAM\/catkin_lidar_slam_3d\u3067\u3067\u304d\u308b\u3053\u3068\u30103D LiDAR\u3011"},"content":{"rendered":"<div style=\"text-align: center;\"><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2022\/07\/GO1.jpg\" alt=\"\" width=\"60%\" \/><\/div>\n<h3>\u521d\u3081\u306b<\/h3>\n<hr \/>\n<p>3D LiDAR\u7248\u306eUnitree Go1\u3092\u8cfc\u5165\u3055\u308c\u305f\u5834\u5408\u3001\u5185\u90e8\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u30fcXavier NX\u5185\u306eUnitreeSLAM\/catkin_lidar_slam_3d\u306b\u30b5\u30f3\u30d7\u30eb\u30d7\u30ed\u30b0\u30e9\u30e0\u304c\u5165\u3063\u3066\u304a\u308a\u307e\u3059\u3002<br \/>\n\u672c\u7a3f\u3067\u306f\u3001\u3053\u306e\u30c7\u30d5\u30a9\u30eb\u30c8\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u89e3\u8aac\u3092\u884c\u3044\u307e\u3059\u3002<\/p>\n<p>\u4e0b\u8a18\u306b\u82f1\u8a9e\u3067\u3059\u304cYoutube\u52d5\u753b\u304c\u4e0a\u304c\u3063\u3066\u3044\u308b\u306e\u3067\u3001\u3088\u308d\u3057\u3051\u308c\u3070\u3053\u3061\u3089\u3082\u53c2\u8003\u306b\u3057\u3066\u304f\u3060\u3055\u3044\uff1a<br \/>\n<a href=\"https:\/\/www.youtube.com\/watch?v=0hrY0eFTT5g\">Go1-3d-rshelios16p-operation &#8211; YouTube<\/a><\/p>\n<p>&nbsp;<\/p>\n<h3>\u74b0\u5883<\/h3>\n<hr \/>\n<p>\u74b0\u5883\u306f\u3001\u6b21\u306e\u3088\u3046\u306a\u3082\u306e\u3092\u60f3\u5b9a\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<ul>\n<li>\u6a5f\u7a2e: <strong>R&amp;D+(Edu+) 3D LiDAR\u7248<\/strong><\/li>\n<li>3D LiDAR: RS-Helios-16p<\/li>\n<\/ul>\n<p>\u203b2022\u5e7412\u6708\u4ee5\u524d\u306b\u3054\u8cfc\u5165\u306e\u5834\u5408velodyne VLP-16\u3067\u3059\u304c\u3001\u3053\u3061\u3089\u3067\u3082\u5185\u5bb9\u306f\u307b\u307c\u540c\u3058\u3067\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\uff11\uff0e3D LiDAR\u306e\u63a5\u7d9a<\/h3>\n<hr \/>\n<p>\u80cc\u4e2d\u306e\u30ec\u30fc\u30eb\u306b3D LiDAR\u3092\u4ed8\u3051\u305f\u306e\u3061\u3001\u7d66\u96fb\u30b1\u30fc\u30d6\u30eb\u3068\u6709\u7dda\u30b1\u30fc\u30d6\u30eb\u3092\u56f3\u306e\u3088\u3046\u306b\u63a5\u7d9a\u3057\u307e\u3059\uff1a<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/bce1704f25eff9435e51a0ef086640d0.jpg\" width=\"40%\" \/><br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/e07c32dbd4e2703fa02e2cdcd5797c42-scaled.jpg\" width=\"60%\" \/><br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/ecdb19f8791d14a59ea1b1f18d591b2f-scaled.jpg\" width=\"60%\" \/><\/p>\n<p>&nbsp;<\/p>\n<h3>\uff12\uff0e\u30a4\u30f3\u30c8\u30e9\u30cd\u30c3\u30c8\u306b\u63a5\u7d9a\uff0bNoMachine\u3067\u7121\u7dda\u63a5\u7d9a<\/h3>\n<hr \/>\n<p>\u53ef\u8996\u5316\u306e\u65b9\u6cd5\u3068\u3057\u3066\u3001\u672c\u8a18\u4e8b\u3067\u306fNoMachine\u3092\u7528\u3044\u305f\u65b9\u6cd5\u3067\u884c\u3044\u307e\u3059\u3002<br \/>\n\u203b\u30e1\u30fc\u30ab\u30fc\u516c\u5f0f\u306e\u52d5\u753b<a href=\"https:\/\/www.youtube.com\/watch?v=0hrY0eFTT5g\">Go1-3d-rshelios16p-operation &#8211; YouTube<\/a>\u3067\u306fROS\u306b\u3088\u308b\u8907\u6570\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u30fc\u9593\u306e\u901a\u4fe1\u306b\u3088\u3063\u3066\u53ef\u8996\u5316\u3092\u884c\u3063\u3066\u3044\u307e\u3059\u304c\u3001\u3053\u308c\u3092\u884c\u3046\u5834\u5408\u3001ROS\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u305f\u5916\u90e8PC\u304c\u5fc5\u8981\u3067\u3059\u3002\u672c\u8a18\u4e8b\u3067\u306f\u4e00\u822c\u306ePC\u3067\u3082\u884c\u3048\u308b\u65b9\u6cd5\u306b\u3057\u3066\u304a\u308a\u307e\u3059<\/p>\n<p>\u307e\u305a\u5185\u90e8NX\u306bWi-Fi\u306eUSB\u5b50\u6a5f\u3092\u63a5\u7d9a\u3057\u3001\u30a4\u30f3\u30c8\u30e9\u30cd\u30c3\u30c8\u306b\u63a5\u7d9a\u3057\u307e\u3059\u3002<br \/>\n\u305d\u306e\u5f8c\u3001\u5916\u90e8PC\u304b\u3089NoMachine\u3067\u63a5\u7d9a\u3057\u307e\u3059\u3002<\/p>\n<p>\u30a4\u30f3\u30c8\u30e9\u30cd\u30c3\u30c8\u3078\u306e\u63a5\u7d9a\u306b\u3064\u3044\u3066\u306f\u3001\u4ee5\u4e0b\u306e\u8a18\u4e8b\u3092\u53c2\u8003\u306b\u3057\u3066\u304f\u3060\u3055\u3044\uff1a<br \/>\n<a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/go1_internet_access.html\">\u3010Unitree Go1\u3011Nano\/NX \u306e\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u63a5\u7d9a\u65b9\u6cd5<\/a><br \/>\n\u203b\u672c\u8a18\u4e8b\u306e\u5185\u5bb9\u3092\u884c\u3046\u5834\u5408\u3001\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u63a5\u7d9a\u8a2d\u5b9a\u307e\u3067\u306f\u5fc5\u8981\u3042\u308a\u307e\u305b\u3093\u306e\u3067\u3001\u300e2. GUI \u304b\u3089WI-FI\u3078\u63a5\u7d9a\u300f\u307e\u3067\u884c\u3048\u3070\u5341\u5206\u3067\u3059<\/p>\n<p>NoMachine\u3067\u306e\u7121\u7dda\u63a5\u7d9a\u306b\u3064\u3044\u3066\u306f\u3001\u4ee5\u4e0b\u306e\u8a18\u4e8b\u3092\u53c2\u8003\u306b\u3057\u3066\u304f\u3060\u3055\u3044\uff1a<br \/>\n<a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/go1_remote_nomachine.html\">\u3010Unitree Go1\u3011\u30ea\u30e2\u30fc\u30c8\u30c7\u30b9\u30af\u30c8\u30c3\u30d7\u3092\u4f7f\u304a\u3046\u3010NoMachine\u3011<\/a><\/p>\n<p>&nbsp;<\/p>\n<h3>\uff13\uff0e\u5b9f\u884c<\/h3>\n<hr \/>\n<h5>\uff13\uff0d\uff11\uff0ebuild_map<\/h5>\n<p>build_map\u30d7\u30ed\u30b0\u30e9\u30e0\u306f\u30012D map\u30683D map\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002<br \/>\n2D map\u306e\u4f5c\u6210\u306fgmapping, 3D map\u306e\u4f5c\u6210\u306fLIO-SAM\u306b\u3088\u3063\u3066\u884c\u308f\u308c\u307e\u3059\u3002\u305f\u3060\u3057\u30aa\u30c9\u30e1\u30c8\u30ea\u306f\u5171\u901a\u3057\u3066LIO-SAM\u306e\u3082\u306e\u3092\u7528\u3044\u3066\u3044\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ roslaunch start build_map.launch map_name:=my_map_name\r\n$ rviz -d src\/lidar_slam_3d\/start\/rviz\/build_map.rviz<\/code><\/pre>\n<\/div>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/230607_Helios_buildmap_Moment.jpg\" width=\"100%\" \/><br \/>\n\u203b2D nav goal\u3092\u7528\u3044\u3066\u81ea\u5f8b\u8d70\u884c\u3082\u3055\u305b\u3089\u308c\u307e\u3059<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/build_map_3d.jpg\" width=\"100%\" \/><br \/>\n\u203b3D map\u4f5c\u6210\u306e\u69d8\u5b50\u304c\u5206\u304b\u308a\u3084\u3059\u3044\u3088\u3046\u306b\u30012D map\u306e\u8868\u793a\u306f\u6d88\u3057\u3066\u3044\u307e\u3059<\/p>\n<p>\u3055\u3089\u306bpatrol point\u306e\u8a2d\u5b9a\u3082\u884c\u3048\u307e\u3059\uff1a<br \/>\njoystick\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u304b\u3089X\u30dc\u30bf\u30f3\u3092\u62bc\u3059\u3068\u3001\u4eca\u3044\u308b\u5834\u6240\u306e\u30dd\u30a4\u30f3\u30c8\u3092\u4fdd\u5b58\u3057\u307e\u3059\u3002\u3053\u308c\u306f\u6b21\u306estart_patrol\u3067\u4f7f\u3046\u5de1\u56de\u30dd\u30a4\u30f3\u30c8\u306b\u306a\u308a\u307e\u3059\u3002\uff08\u53c2\u8003\uff1a<a href=\"https:\/\/www.youtube.com\/watch?v=0hrY0eFTT5g\">Go1-3d-rshelios16p-operation &#8211; YouTube<\/a>\u306e7:30\u9803\uff09<\/p>\n<p>\u6700\u5f8c\u306b\u3001\u300cctrl+c\u300d\u3067\u30d7\u30ed\u30bb\u30b9\u3092\u7d42\u4e86\u3055\u305b\u308b\u3068\u3001\u81ea\u52d5\u7684\u306b3D map\u30842D map\u304c\u4fdd\u5b58\u3055\u308c\u307e\u3059\u3002<br \/>\nmy_map_name\u3068\u3044\u3046\u540d\u524d\u306e\u5834\u5408\u3001lidar_slam_3d\/start\/maps\/LOAM\/my_map_name\/\u4ee5\u4e0b\u306bSLAM\u306b\u3088\u3063\u3066\u4f5c\u6210\u3055\u308c\u305f3D map\u304c\u683c\u7d0d\u3055\u308c\u30012D map\u306flidar_slam_3d\/start\/maps\/gmapping\/\u4ee5\u4e0b\u306b\u683c\u7d0d\u3055\u308c\u307e\u3059\u3002\u306a\u304a\u3001patrol point\u306flidar_slam_3d\/start\/maps\/gmapping\/\u5185\u306b.txt\u5f62\u5f0f\u3067\u4fdd\u5b58\u3055\u308c\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h5>\uff13\uff0d\uff12\uff0estart_patrol<\/h5>\n<p>start_patrol\u30d7\u30ed\u30b0\u30e9\u30e0\u306f\u3001\u4f5c\u6210\u3057\u305f2D map\u30683D map\u3092\u7528\u3044\u3066\u3001build_map\u3067\u8a2d\u5b9a\u3057\u305fpatrol point\u3092\u9806\u306b\u5de1\u56de\u3057\u307e\u3059\u3002<br \/>\n\u79fb\u52d5\u7d4c\u8def\u306e\u4f5c\u6210\u306f\u30012D map\u3068move_base\uff08teb_local_planner\u3092\u4f7f\u7528\uff09\u306b\u3088\u308b\u7d4c\u8def\u751f\u6210\u3067\u3042\u308a\u3001\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a\u306f3D map\u3068ndt_localization\u30d1\u30c3\u30b1\u30fc\u30b8\u306b\u4f9d\u308a\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ roslaunch start start_patrol.launch map_name:=my_map_name\r\n$ rviz -d src\/lidar_slam_3d\/start\/rviz\/start_patrol.rviz<\/code><\/pre>\n<\/div>\n<p>rviz\u3092\u8d77\u52d5\u3059\u308b\u3068\u540c\u6642\u306b\u3001\u5de1\u56de\u304c\u958b\u59cb\u3055\u308c\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\u53c2\u8003\uff1aLiDAR\u8a2d\u5b9a\u3068UnitreeSLAM\u306e\u30b3\u30f3\u30d1\u30a4\u30eb<\/h3>\n<hr \/>\n<p><strong>\u901a\u5e38\u3001\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u306f\u3053\u306e\u7bc0\u3092\u3059\u308b\u5fc5\u8981\u306f\u3042\u308a\u307e\u305b\u3093\u3002<\/strong><\/p>\n<p>\u5185\u90e8Jetson Xavier NX\u3067\u4ee5\u4e0b\u306e\u8a2d\u5b9a\u3068\u30b3\u30f3\u30d1\u30a4\u30eb\u3092\u884c\u3044\u307e\u3059\u3002<\/p>\n<h5>\uff08\u53c2\u8003\uff093D LiDAR\u306e\u8a2d\u5b9a\uff1a<\/h5>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/3D-LiDAR-setting.png\" width=\"60%\" \/><br \/>\n\u203b3D Laser SLAM Development Guide\u629c\u7c8b<\/p>\n<p>\u6b21\u306eping\u304c\u901a\u308c\u3070\u6210\u529f\u3067\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ ping 192.168.1.200<\/code><\/pre>\n<\/div>\n<h5>\uff08\u53c2\u8003\uff09UnitreeSLAM\/catkin_lidar_slam_3d\u306e\u30b3\u30f3\u30d1\u30a4\u30eb<\/h5>\n<p>\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u306f\u30b3\u30f3\u30d1\u30a4\u30eb\u6e08\u307f\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u304c\u3001\u4f55\u304b\u3057\u3089\u306e\u7406\u7531\u3067\u3053\u308c\u3092\u30b3\u30f3\u30d1\u30a4\u30eb\u3057\u305f\u3044\u5834\u5408\u306b\u3064\u3044\u3066\u3002<\/p>\n<p>\u57fa\u672c\u7684\u306b\u306f\u3001UnitreeSLAM\/catkin_lidar_slam_3d\u5185\u306esrc\u30d5\u30a9\u30eb\u30c0\u3092catkin_make\u3059\u308c\u3070\u3088\u3044\u3067\u3059\u304c\u3001\u4ee5\u4e0b\u306e\uff12\u70b9\u306b\u6c17\u3092\u4ed8\u3051\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>\uff11\uff0esdk\u306e\u30d1\u30b9<br \/>\na2_ros2udp\u30d1\u30c3\u30b1\u30fc\u30b8\u5185\u306eCMakeLists.txt\u5185\u306esdk\u306e\u30d1\u30b9\u306fcatkin_lidar_slam_3d\u306e\u5916\u3092\u53c2\u7167\u3057\u3066\u3044\u307e\u3059\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/compile_3d_sdk.png\" width=\"60%\" \/><\/p>\n<p>\uff12\uff0e\u30e1\u30e2\u30ea<br \/>\n\u666e\u901a\u306b\u30b3\u30f3\u30d1\u30a4\u30eb\u3092\u3059\u308b\u3068\u30e1\u30e2\u30ea\u4e0d\u8db3\u306b\u306a\u308b\u305f\u3081\u3001\u4ee5\u4e0b\u306eswap\u9818\u57df\u306e\u4f5c\u6210\u3092\u884c\u3063\u3066\u304f\u3060\u3055\u3044\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/compile_3d_swap.png\" width=\"60%\" \/><br \/>\n\u203b3D Laser SLAM Development Guide\u629c\u7c8b<\/p>\n<p>&nbsp;<\/p>\n<h3>\u304a\u308f\u308a\u306b<\/h3>\n<p>UnitreeSLAM\/catkin_lidar_slam_3d\u306e\u6a5f\u80fd\u3092\u898b\u3066\u304d\u307e\u3057\u305f\u3002<br \/>\n\u3053\u306e\u8a18\u4e8b\u304c\u5c11\u3057\u3067\u3082\u5f79\u306b\u7acb\u3066\u305f\u306e\u306a\u3089\u5e78\u3044\u3067\u3059\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u521d\u3081\u306b 3D LiDAR\u7248\u306eUnitree Go1\u3092\u8cfc\u5165\u3055\u308c\u305f\u5834\u5408\u3001\u5185\u90e8\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u30fcXavier NX\u5185\u306eUnitreeSLAM\/catkin_lidar_slam_3d\u306b\u30b5\u30f3\u30d7\u30eb\u30d7\u30ed\u30b0\u30e9\u30e0\u304c\u5165\u3063\u3066\u304a\u308a\u307e\u3059\u3002 \u672c\u7a3f\u3067\u306f &hellip;<\/p>\n","protected":false},"author":15,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[31,26,51],"tags":[],"class_list":["post-344768","post","type-post","status-publish","format-standard","hentry","category-go1","category-unitree","category-unitree-tips"],"_links":{"self":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344768","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/users\/15"}],"replies":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/comments?post=344768"}],"version-history":[{"count":34,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344768\/revisions"}],"predecessor-version":[{"id":344856,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344768\/revisions\/344856"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=344768"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=344768"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=344768"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}