{"id":345173,"date":"2023-09-29T17:16:44","date_gmt":"2023-09-29T08:16:44","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=345173"},"modified":"2023-12-27T16:17:51","modified_gmt":"2023-12-27T07:17:51","slug":"unitree_lidar_slam","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/unitree_lidar_slam.html","title":{"rendered":"Unitree LiDAR L1\u3067SLAM"},"content":{"rendered":"

\u672c\u7a3f\u3067\u306fUnitree\u793e\u306e\u5c0f\u578bLiDAR L1\u3092\u7528\u3044\u305fPC\u4e0a\u3067\u306e\u30c7\u30fc\u30bf\u53d6\u5f97\uff0c\u304a\u3088\u3073\u5fdc\u7528\u4f8b\u3068\u3057\u3066\u306eSLAM\u5b9f\u884c\u4f8b\u3092\u3054\u7d39\u4ecb\u3057\u307e\u3059\uff0e<\/p>\n

1. Unitee L1\uff1f<\/h2>\n

Unitree\u793e\u304c\u72ec\u81ea\u958b\u767a\u3057\u305f3D LiDAR\u3067\u3059\uff0e\u7d048cm\u56db\u65b9\uff0c230g<\/strong>\u3068\u5c0f\u578b\u30fb\u8efd\u91cf\u3067\u4f4e\u30b3\u30b9\u30c8\u306a\u304c\u3089\uff0c360\u00b0\u00d790\u00b0<\/strong>\u306e\u70b9\u7fa4\u304a\u3088\u30736\u8ef8IMU<\/strong>\u306e\u30c7\u30fc\u30bf\u53d6\u5f97\u304c\u3067\u304d\u307e\u3059\uff0e<\/p>\n

https:\/\/techshare.co.jp\/product\/unitree\/4d-lidar-l1\/<\/a><\/p>\n

2023\u5e74\u306e\u65b0\u578b\u56db\u811a\u30ed\u30dc\u30c3\u30c8\u3067\u3042\u308bUnitree Go2\u306e\u984e\u90e8\u306b\u540c\u69d8\u306eLiDAR\u304c\u4ed8\u3044\u3066\u304a\u308a\uff0c\u6b69\u884c\u6642\u306e\u969c\u5bb3\u7269\u691c\u51fa\u306b\u5229\u7528\u3055\u308c\u3066\u3044\u307e\u3059\uff0e<\/p>\n

2. \u5b9f\u884c\u74b0\u5883<\/h2>\n

\u4ee5\u4e0b\u306e\u74b0\u5883\u3067\u52d5\u4f5c\u3092\u78ba\u8a8d\u3057\u307e\u3057\u305f\uff0e<\/p>\n

\u30db\u30b9\u30c8OS:<\/strong> Ubuntu 22.04<\/p>\n

CPU:<\/strong> Intel(R) Core(TM) i5-10210U @ 1.60GHz x 8<\/p>\n

\u30e1\u30e2\u30ea:<\/strong> 8GB<\/p>\n

3. \u4f7f\u3063\u3066\u307f\u308b<\/h2>\n

3.1. \u30b9\u30ad\u30e3\u30f3\u30c7\u30fc\u30bf\u53d6\u5f97<\/h3>\n

Unitree Robotics\u306egithub\u304b\u3089\uff0cL1\u3092\u4f7f\u7528\u3059\u308b\u969b\u306e\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u985e\u3092\u53d6\u5f97\u3067\u304d\u307e\u3059\uff0e\u4e0b\u8a18\u30ea\u30f3\u30af\u306e\u30ea\u30dd\u30b8\u30c8\u30ea\u306f\uff0cL1\u306e\u30c7\u30fc\u30bf\u3092\u53d6\u5f97\u3059\u308b\u305f\u3081\u306eSDK\uff0c\u304a\u3088\u3073ROS\/ROS2\u30d1\u30c3\u30b1\u30fc\u30b8\u3067\u3059\uff0e<\/p>\n

https:\/\/github.com\/unitreerobotics\/unilidar_sdk<\/a><\/p>\n

ROS2\u3067\u5229\u7528\u3059\u308b\u5834\u5408\u306e\u30d3\u30eb\u30c9\u624b\u9806\u306f\u4ee5\u4e0b\u306e\u901a\u308a<\/p>\n

\n
git clone https:\/\/github.com\/unitreerobotics\/unilidar_sdk\r\ncd unilidar_sdk\/unitree_lidar_ros2\r\ncolcon build --symlink-install<\/code><\/pre>\n<\/div>\n
source\u30b3\u30de\u30f3\u30c9\u306b\u3088\u308b\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u5f8c\uff0cL1\u306e\u30bb\u30f3\u30b5\u30fc\u30ce\u30fc\u30c9\u7acb\u3061\u4e0a\u3052\u3068rviz2\u306b\u3088\u308b\u53ef\u8996\u5316\u3092\u884c\u3046launch\u30b9\u30af\u30ea\u30d7\u30c8\u3092\u5b9f\u884c<\/p>\n
\n
ros2 launch unitree_lidar_ros2 launch.py<\/code><\/pre>\n<\/div>\n
\u4e0b\u753b\u50cf\u306e\u3088\u3046\u306b\u30b9\u30ad\u30e3\u30f3\u30c7\u30fc\u30bf\u304c\u78ba\u8a8d\u3067\u304d\u307e\u3059\uff0e<\/p>\n
\"ros2\u30ce\u30fc\u30c9\u5b9f\u884c\u6642\u306e\u753b\u9762\"<\/p>\n
\u3053\u3061\u3089\u306f2023\u5e747\u6708\u306b\u540d\u53e4\u5c4b\u56fd\u969b\u4f1a\u8b70\u5834\u3067\u958b\u50ac\u3057\u305fRobot Innovation Week 2023\u306b\u304a\u3051\u308b\uff0cL1\u30c7\u30e2\u5c55\u793a\u3067\u306e\u69d8\u5b50\u3067\u3059\uff0e\u6765\u5834\u5ba2\u3084\u4f1a\u5834\u306e\u67f1\u306a\u3069\u304c\u78ba\u8a8d\u3067\u304d\u307e\u3059\uff0e<\/p>\n
\"\"<\/h3>\n
3.2. SLAM<\/h3>\n
9\u6708\u672b\u306b\uff0cPoint-LIO\u3068\u3044\u3046(tightly-coupled\u306a)LiDAR-IMU\u8907\u5408\u30aa\u30c9\u30e1\u30c8\u30ea\u30fc\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306b\u57fa\u3065\u304f\uff0cL1\u5411\u3051\u306eSLAM\u30d1\u30c3\u30b1\u30fc\u30b8\u304c\u516c\u958b\u3055\u308c\u307e\u3057\u305f\uff0e<\/p>\n
https:\/\/github.com\/unitreerobotics\/point_lio_unilidar<\/a><\/p>\n
\u203bPoint-LIO\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u306b\u3064\u3044\u3066\u306f\u3053\u3061\u3089\u3092\u53c2\u7167<\/p>\n
https:\/\/onlinelibrary.wiley.com\/doi\/epdf\/10.1002\/aisy.202200459<\/a><\/p>\n
Unitree\u306fUbuntu 20.04(ROS noetic)<\/strong>\u74b0\u5883\u3067\u52d5\u4f5c\u78ba\u8a8d\u3057\u305f\u3088\u3046\u3067\u3059\u306e\u3067\uff0edocker\u3092\u7528\u3044\u305f\u74b0\u5883\u69cb\u7bc9\u3092\u884c\u3044\u307e\u3057\u305f\uff0e\u203b\u8a73\u7d30\u306a\u624b\u9806\u306f\u3053\u3053\u3067\u306f\u5272\u611b\u3057\u307e\u3059<\/p>\n
OSRF\u306enoetic\u30a4\u30e1\u30fc\u30b8\u3092\u30d9\u30fc\u30b9\u306b\uff0cREADME\u306e\u901a\u308a\u306b\u4f9d\u5b58\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\uff0c\u30d3\u30eb\u30c9\u3057\u307e\u3059\uff0e<\/p>\n
USB\u63a5\u7d9a\u3057\u305fL1\u306f\/dev\/ttyUSB0\u3068\u3057\u3066\u8a8d\u8b58\u3055\u308c\u307e\u3059\uff0e\u30c7\u30d0\u30a4\u30b9\u30d5\u30a1\u30a4\u30eb\u3078\u306e\u30a2\u30af\u30bb\u30b9\u8a31\u53ef\u8a2d\u5b9a\u3092\u5fd8\u308c\u305a\u306b\uff0e<\/p>\n
\u4ee5\u4e0b\u306f\u5f0a\u793e\u958b\u767a\u30bb\u30f3\u30bf\u30fc\u30d5\u30ed\u30a2\u5185\u3092\u5de1\u56de\u3057\u305f\u30c7\u30fc\u30bf\u306b\u57fa\u3065\u304d\uff0c3\u6b21\u5143\u5730\u56f3\u3092\u4f5c\u6210\u3059\u308b\u69d8\u5b50\u3067\u3059\uff0e<\/p>\n
\"mapping\"<\/p>\n
\u4f5c\u6210\u3055\u308c\u305f\u5730\u56f3\u306fpcd\u5f62\u5f0f\u3067\u4fdd\u5b58\u3055\u308c\u307e\u3059\uff0e<\/p>\n
4. \u304a\u308f\u308a\u306b<\/h2>\n
Unitree LiDAR L1\u3092\u7528\u3044\u305f\u30c7\u30fc\u30bf\u53d6\u5f97\uff0cSLAM\u306e\u5b9f\u884c\u4f8b\u3092\u3054\u7d39\u4ecb\u3057\u307e\u3057\u305f\uff0e\u3084\u3084\u7279\u6b8a\u306a\u30b9\u30ad\u30e3\u30f3\u65b9\u5f0f\u3067\u306f\u3042\u308a\u307e\u3059\u304c\uff0c\u5c0f\u578b\u30fb\u5b89\u4fa1\u306a3\u6b21\u5143LiDAR\u3068\u3057\u3066\u6d3b\u8e8d\u3067\u304d\u308b\u30dd\u30c6\u30f3\u30b7\u30e3\u30eb\u3092\u79d8\u3081\u305f\u30c7\u30d0\u30a4\u30b9\u304b\u3068\u601d\u3044\u307e\u3059\uff0e<\/p>\n
L1 LiDAR\u3092\u306f\u3058\u3081\uff0cUnitree\u88fd\u54c1\u306b\u95a2\u3059\u308b\u304a\u554f\u3044\u5408\u308f\u305b\u306f<\/p>\n
unitree@techshare.co.jp<\/a><\/p>\n
\u307e\u3067\uff01<\/p>\n","protected":false},"excerpt":{"rendered":"
\u672c\u7a3f\u3067\u306fUnitree\u793e\u306e\u5c0f\u578bLiDAR L1\u3092\u7528\u3044\u305fPC\u4e0a\u3067\u306e\u30c7\u30fc\u30bf\u53d6\u5f97\uff0c\u304a\u3088\u3073\u5fdc\u7528\u4f8b\u3068\u3057\u3066\u306eSLAM\u5b9f\u884c\u4f8b\u3092\u3054\u7d39\u4ecb\u3057\u307e\u3059\uff0e 1. Unitee L1\uff1f Unitree\u793e\u304c\u72ec\u81ea\u958b\u767a\u3057\u305f3D LiDAR\u3067\u3059\uff0e\u7d048cm\u56db\u65b9 …<\/p>\n","protected":false},"author":11,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[72,26,67,51],"tags":[],"class_list":["post-345173","post","type-post","status-publish","format-standard","hentry","category-go2","category-unitree","category-l1","category-unitree-tips"],"_links":{"self":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345173","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\/11"}],"replies":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/comments?post=345173"}],"version-history":[{"count":20,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345173\/revisions"}],"predecessor-version":[{"id":345287,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345173\/revisions\/345287"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=345173"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=345173"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=345173"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}