{"id":345406,"date":"2024-02-10T19:08:58","date_gmt":"2024-02-10T10:08:58","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=345406"},"modified":"2024-08-05T11:13:45","modified_gmt":"2024-08-05T02:13:45","slug":"unitree-go2_how_to_use_mid360","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/unitree-go2_how_to_use_mid360.html","title":{"rendered":"\u3010Unitree Go2\u3011Mid360\u306e\u30c7\u30d5\u30a9\u30eb\u30c8\u30b5\u30f3\u30d7\u30eb\u306e\u4f7f\u3044\u65b9\uff08\u73fe\u5728\u4f7f\u7528\u3067\u304d\u307e\u305b\u3093\u3067\u3059\uff09"},"content":{"rendered":"<h3>\u521d\u3081\u306b<\/h3>\n<hr \/>\n<p>\u672c\u8a18\u4e8b\u3067\u306f\u3001\u30aa\u30d7\u30b7\u30e7\u30f3\u306eMid360\/XT16\u7248\u3092\u7528\u3044\u305f\u30e1\u30fc\u30ab\u30fc\u306e\u7528\u610f\u3057\u305fSLAM\u306e\u4f7f\u3044\u65b9\u3092\u6848\u5185\u3059\u308b\u4e88\u5b9a\u3067\u3059\u3002<\/p>\n<p>\u305f\u3060\u3057\u3001\u30e1\u30fc\u30ab\u30fc\u306b\u78ba\u8a8d\u3057\u305f\u3068\u3053\u308d\u3001\u73fe\u72b6\u306f\u3046\u307e\u304f\u52d5\u4f5c\u305b\u305a\u30012024\u5e74\u306e\u5e74\u672b\u9803\u306b\u66f4\u65b0\u4e88\u5b9a\u3068\u306e\u3053\u3068\u3067\u3059\u3002\uff0824\/8\/5\u73fe\u5728\uff09<\/p>\n<p>\u4f7f\u7528\u3059\u308b\u305f\u3081\u306bTechShare\u3067\u7528\u610f\u3057\u305f\u4f7f\u7528\u4f8b\uff08\u70b9\u7fa4\u53d6\u5f97\u3068SLAM\uff09\u304c\u4e0b\u8a18\u306e\u3088\u3046\u306b\u3054\u3056\u3044\u307e\u3059\uff1a<\/p>\n<h5>TechShare\u3067\u7528\u610f\u3057\u305f\u30b5\u30f3\u30d7\u30eb\uff08\u70b9\u7fa4\u53d6\u5f97\u3068SLAM\uff09<\/h5>\n<ul>\n<li>\n            <strong>Mid360\u306e\u5834\u5408<\/strong><\/p>\n<ul>\n<li><a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/techshare_mid360_foxy.html\">\u3010Unitree Go2\u3011Mid360\u3092\u52d5\u304b\u3057\u3066\u307f\u308b<\/a><\/li>\n<li><a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/mid360_slam_fast-lio.html\">\u3010Unitree Go2\u3011Mid360\u3067SLAM\u3092\u5b9f\u884c\u3059\u308b<\/a><\/li>\n<li><a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/mid360-on-go2_fast-lio.html\">\u3010Unitree Go2\u3011Mid360 on Go2\u3067FAST-LIO\u3092\u4f7f\u3046<\/a><\/li>\n<\/ul>\n<\/li>\n<li>\n            <strong>XT16\u306e\u5834\u5408<\/strong><\/p>\n<ul>\n<li><a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/go2_xt16_foxy.html\">\u3010Unitree Go2\u3011XT16\u3092\u52d5\u304b\u3057\u3066\u307f\u308b<\/a><\/li>\n<li><a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/xt16-on-go2_d-lio.html\">\u3010Unitree Go2\u3011XT16 on Go2\u3067D-LIO\u3092\u4f7f\u3046\u3010SLAM\u3011<\/a><\/li>\n<\/ul>\n<\/li>\n<\/ul>\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: Go2 <strong>R&amp;D(Edu), R&amp;D+(Edu+)<\/strong>\uff08AIR\/PRO\u3067\u306f\u306a\u3044\u3082\u306e\uff09<\/li>\n<li>\u4ed8\u5c5eLiDAR\uff1aMid-360<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>\uff11\uff0eExpansion Dock(Jetson Orin)\u306e\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8<\/h3>\n<hr \/>\n<p>\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\uff08<a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/module_update\">module update<\/a>\uff09\u306b\u66f8\u304b\u308c\u3066\u3044\u308b\u3088\u3046\u306b\u3001\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u3092\u3057\u307e\u3059\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/02\/ExpansionDockUpdate2.png\" alt=\"\" width=\"100%\" \/><br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/02\/ExpansionDockUpdate1.png\" alt=\"\" width=\"100%\" \/><\/p>\n<p>Update\u304c\u5b8c\u4e86\u3059\u308b\u3068\u753b\u50cf\u306e\u3088\u3046\u306a\u8868\u793a\u306b\u306a\u308a\u307e\u3059\u3002<br \/>\n\u307e\u305f\u3001Docking Station\u5185\u90e8\u306e<strong>root\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u76f4\u4e0b<\/strong>\uff08home\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3067\u306f\u306a\u3044\u3067\u3059\uff09\u306b \/unitree \u30d5\u30a9\u30eb\u30c0\u304c\u751f\u6210\u3055\u308c\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\uff12\uff0eMid360\u306eip\u30a2\u30c9\u30ec\u30b9\u8a2d\u5b9a<\/h3>\n<hr \/>\n<p>\u4ee5\u964d\u306f\u3001SLAM\u306b\u95a2\u3059\u308b\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\uff08<a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/SLAM%20and%20Navigation_service\">SLAM Navigation_service<\/a>\uff09\u3092\u53c2\u8003\u306b\u9032\u3081\u307e\u3059\u3002<\/p>\n<p>\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u306b\u3088\u308b\u3068\u6700\u521d\u306b\u3001<\/p>\n<pre class=\"prism lang-plain\"><code>$ ping 192.168.123.18 #Docking PC IP\r\n$ ping 192.168.123.20 #Lidar IP\r\n$ ping 192.168.123.161 #Motion Control PC IP<\/code><\/pre>\n<p>\u3068\u3057\u3066\u3044\u307e\u3059\u304c\u3001\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u306fLiDAR IP\u306e\u307f\u901a\u3089\u306a\u3044\u3068\u3044\u3046\u72b6\u6cc1\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>\u672c\u7bc0\u3067\u306fmid-360\u3092192.168.123.20\u306b\u8a2d\u5b9a\u3057\u3066\u3044\u304d\u307e\u3059\u3002<\/p>\n<h5>2-1. Windows PC\u3068Mid360\u306e\u63a5\u7d9a<\/h5>\n<p>IP\u30a2\u30c9\u30ec\u30b9\u306e\u8a2d\u5b9a\u306b\u306f\u3001livox_viewer\u3068\u3044\u3046\u3082\u306e\u3092\u7528\u3044\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u304c\u3001\u5f0a\u793e\u3067\u8abf\u3079\u305f\u9650\u308a\u3067\u306fDocking Station (Jetson Orin\/ Ubuntu20)\u3060\u3068\u4f7f\u3048\u307e\u305b\u3093\u3002<br \/>\n\u305d\u306e\u305f\u3081\u3001Windows PC \u3068 \u5e02\u8ca9Mid360\u306e\u4ed8\u5c5e\u30b1\u30fc\u30d6\u30eb\u3092\u7528\u610f\u3057\u3001Windows PC\u3068Mid-360\u3092\u63a5\u7d9a\u3057\u307e\u3059\u3002<\/p>\n<h5>2-2. Windows PC \u304b\u3089 Mid360 \u306e\u8a2d\u5b9a\u3092\u884c\u3046<\/h5>\n<p>\u307e\u305aWindows\u306elivox viewer\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u307e\u3059\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/02\/livox_download.png\" alt=\"\" width=\"60%\" \/><\/p>\n<p>\u6b21\u306b\u3053\u308c\u3092\u5c55\u958b\u3057\u3066\u305d\u306e\u4e2d\u306b\u3042\u308bexe\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002<\/p>\n<p>\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u306flivox\u306eIP\u30a2\u30c9\u30ec\u30b9\u306f192.168.1.1xx\u3068\u306a\u3063\u3066\u3044\u308b\u305f\u3081\u3001\u7af6\u5408\u3057\u306a\u3044\u7bc4\u56f2\u3067\u9069\u5f53\u306bWindows PC\u5074\u306eIP\u30a2\u30c9\u30ec\u30b9\u306e\u4fee\u6b63\u3092\u3057\u307e\u3059\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/02\/livox_eth_setting.png\" alt=\"\" width=\"60%\" \/><\/p>\n<p>\u5de6\u4e0a\u304b\u3089\u3001adapter\u3092\u5148\u307b\u3069\u8a2d\u5b9a\u3057\u305fPC\u306eIP\u30a2\u30c9\u30ec\u30b9\u306b\u3059\u308b\u3068\u3001Mid-360\u304c\u898b\u3064\u304b\u308a\u307e\u3059\u3002<br \/>\n\u305d\u306e\u5f8c\u3001\u6b6f\u8eca\u30de\u30fc\u30af\u304b\u3089\u8a2d\u5b9a\u3092\u884c\u3044\u307e\u3059\u3002<\/p>\n<ul>\n<li>LiDAR IP: 192.168.123.20<\/li>\n<li>Point\/IMU IP: 192.168.123.18<\/li>\n<\/ul>\n<p>\u3053\u306e\u6642\u306e192.168.123.18\u306e\u30a2\u30c9\u30ec\u30b9\u306fDocking Station\u3067\u53d7\u3051\u53d6\u308b\u305f\u3081\u306b\u3001Docking Station\u306eIP\u30a2\u30c9\u30ec\u30b9\u3092\u6307\u5b9a\u3057\u307e\u3059\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/02\/livox_viewer_setting.png\" alt=\"\" width=\"60%\" \/><\/p>\n<h5>2-3. Go2\u306b\u623b\u3057\u3001ping\u3092\u78ba\u8a8d\u3059\u308b<\/h5>\n<p>\u6700\u5f8c\u306bGo2 Docking Station\u306bMid-360\u3092\u623b\u3057\u3001\u80cc\u4e2d\u306eJetson Orin\u304b\u3089ping\u304c\u901a\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u307e\u3059\u3002<\/p>\n<pre class=\"prism lang-plain\"><code>$ ping 192.168.123.20 #Lidar IP<\/code><\/pre>\n<p>&nbsp;<\/p>\n<h3>\uff13\uff0eMid360\u3092\u7528\u3044\u305fSLAM\u306e\u5b9f\u884c<\/h3>\n<hr \/>\n<p>\u203b\u3053\u308c\u4ee5\u964d\u306f\u66f8\u304d\u304b\u3051\u306e\u5185\u5bb9\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<p>\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u901a\u308a\u306b\u3084\u308b\u3002<\/p>\n<p>Mid-360\u306e\u756a\u53f7\u3092package_mid360.yaml\u306b\u8a18\u8ff0\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/02\/livox_ysn_setting.png\" alt=\"\" width=\"60%\" \/><\/p>\n<p>demo\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u9069\u5f53\u306a\u5834\u6240\u3067\u4f5c\u6210\u3059\u308b\u3002\u305d\u306e\u5f8c\u3001\u30b3\u30f3\u30d1\u30a4\u30eb\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/02\/livox_demo_mid360.png\" alt=\"\" width=\"60%\" \/><br \/>\n\u203b\u30b3\u30e1\u30f3\u30c8\u3067\u306fMid360\u306e\u5834\u54082\u306b\u3059\u308b\u3088\u3046\u306b\u66f8\u304b\u308c\u3066\u3044\u308b\u304c\u3001\u304a\u305d\u3089\u304f\u9006\u3002Mid360\u306e\u5834\u5408\u306f1\u306b\u3059\u308b<\/p>\n<p>\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u5b9f\u884c\u3059\u308b\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/02\/execute_slam_demo.png\" alt=\"\" width=\"60%\" \/><br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/02\/execute_slam_demo_error.png\" alt=\"\" width=\"60%\" \/><br \/>\n\u30a8\u30e9\u30fc\u304c\u767a\u751f\u3059\u308b\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\u304a\u308f\u308a\u306b<\/h3>\n<p>\u3053\u306e\u8a18\u4e8b\u304c\u5c11\u3057\u3067\u3082\u5f79\u306b\u7acb\u3066\u305f\u306e\u306a\u3089\u5e78\u3044\u3067\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u521d\u3081\u306b \u672c\u8a18\u4e8b\u3067\u306f\u3001\u30aa\u30d7\u30b7\u30e7\u30f3\u306eMid360\/XT16\u7248\u3092\u7528\u3044\u305f\u30e1\u30fc\u30ab\u30fc\u306e\u7528\u610f\u3057\u305fSLAM\u306e\u4f7f\u3044\u65b9\u3092\u6848\u5185\u3059\u308b\u4e88\u5b9a\u3067\u3059\u3002 \u305f\u3060\u3057\u3001\u30e1\u30fc\u30ab\u30fc\u306b\u78ba\u8a8d\u3057\u305f\u3068\u3053\u308d\u3001\u73fe\u72b6\u306f\u3046\u307e\u304f\u52d5\u4f5c\u305b\u305a\u30012024\u5e74\u306e\u5e74\u672b\u9803\u306b\u66f4\u65b0\u4e88\u5b9a\u3068\u306e\u3053\u3068\u3067\u3059\u3002\uff08 &hellip;<\/p>\n","protected":false},"author":15,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[72,26,51],"tags":[],"class_list":["post-345406","post","type-post","status-publish","format-standard","hentry","category-go2","category-unitree","category-unitree-tips"],"_links":{"self":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345406","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=345406"}],"version-history":[{"count":22,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345406\/revisions"}],"predecessor-version":[{"id":346223,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345406\/revisions\/346223"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=345406"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=345406"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=345406"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}