{"id":345636,"date":"2024-03-19T14:35:21","date_gmt":"2024-03-19T05:35:21","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=345636"},"modified":"2025-07-22T09:38:48","modified_gmt":"2025-07-22T00:38:48","slug":"techshare_mid360_foxy","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/techshare_mid360_foxy.html","title":{"rendered":"\u3010Unitree Go2\u3011Mid360\u3092\u52d5\u304b\u3057\u3066\u307f\u308b"},"content":{"rendered":"<h3>\u521d\u3081\u306b<\/h3>\n<hr \/>\n<p>\u672c\u8a18\u4e8b\u3067\u306f\u3001\u30aa\u30d7\u30b7\u30e7\u30f3\u306eMid360\u7248\u306e\u52d5\u4f5c\u78ba\u8a8d\u65b9\u6cd5\u3092\u6848\u5185\u3057\u307e\u3059\u3002<\/p>\n<div style=\"border: 1px solid #ccc; padding: 12px; background-color: #f0f8ff; margin-bottom: 1em;\">\n  <strong>\ud83d\udcd8 Mid360 \u5229\u7528\u30ac\u30a4\u30c9\u30fb\u30b7\u30ea\u30fc\u30ba\uff08\u51683\u56de\uff09<\/strong><\/p>\n<ul style=\"margin-top: 8px; padding-left: 1.2em; list-style-type: disc;\">\n<li><span style=\"color: #000; font-weight: bold;\">\u3010\u524d\u7de8\u3011Mid360\u3092\u52d5\u304b\u3057\u3066\u307f\u308b\uff08\u73fe\u5728\u306e\u8a18\u4e8b\uff09<\/span><\/li>\n<li><a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/mid360_slam_fast-lio.html\" target=\"_blank\">\u3010\u4e2d\u7de8\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\" target=\"_blank\">\u3010\u5f8c\u7de8\u3011Mid360 on Go2\u3067FAST-LIO\u3092\u4f7f\u3046<\/a><\/li>\n<\/ul>\n<\/div>\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\uff0emid360\u306eip\u8a2d\u5b9a<\/h3>\n<hr \/>\n<p>\u203b\u8ffd\u8a18(24\/3\/29)<br \/>\n\u6700\u65b0\u306eMid360\u3092\u3054\u8cfc\u5165\u306e\u5834\u5408\u306f\u3001\u30e1\u30fc\u30ab\u30fc\u5074\u3067\u4ee5\u4e0b\u306eLivox Viewer\u3092\u7528\u3044\u305f\u8a2d\u5b9a\u5909\u66f4\u304c\u884c\u308f\u308c\u3066\u3044\u308b\u3088\u3046\u3067\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ ping 192.168.123.20<\/code><\/pre>\n<\/div>\n<p>\u3068\u3057\u305f\u5834\u5408\u306b\u3001\u5fdc\u7b54\u304c\u3042\u308c\u3070\u3001\u3053\u306e\u8a2d\u5b9a\u306f\u4e0d\u8981\u3067\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<p>Docking Station\u306eIP\u306f192.168.123.18\u306a\u306e\u3067\u3001Livox Viewer\u3092\u7528\u3044\u3066Mid360\u306e\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u307e\u3059\u3002<\/p>\n<ul>\n<li>LiDAR IP\uff1a192.168.123.20<\/li>\n<li>\u53d7\u3051\u53d6\u308a\u5074\u306eIP\u3092192.168.123.18<\/li>\n<\/ul>\n<p>\u8a73\u3057\u304f\u306f\u3001<a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/unitree-go2_how_to_use_mid360.html\">\u3010Unitree Go2\u3011Mid360\u306e\u30c7\u30d5\u30a9\u30eb\u30c8\u30b5\u30f3\u30d7\u30eb\u306e\u4f7f\u3044\u65b9\uff08\u73fe\u5728\u4f5c\u6210\u4e2d\u3067\u3059\uff09<\/a><br \/>\n\u306e\uff12\u306e\u9805\u3092\u898b\u3066\u3001\u5909\u66f4\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>\u4e0a\u8a18\u306e\u65b9\u6cd5\u304c\u96e3\u3057\u3044\u5834\u5408\u306f\u3001\u4e0b\u8a18\u306e\u3088\u3046\u306a\u65b9\u6cd5\u3067NetPlan\u3092\u5909\u66f4\u3059\u308b\u3053\u3068\u3067\u3082\u5bfe\u5fdc\u3067\u304d\u307e\u3059\u3002<br \/>\n\u3053\u308c\u3092\u7528\u3044\u308b\u3068\u3001eth0\u306b192.168.123.18\u3068192.168.1.200\u3068\u3044\u3046\uff12\u3064\u306e\u9759\u7684IP\u30a2\u30c9\u30ec\u30b9\u3092\u5272\u308a\u632f\u308c\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>#!\/bin\/bash\r\n\r\n# Check if at least two arguments are provided\r\nif [ \"$#\" -lt 2 ]; then\r\n    echo \"Usage: $0 <interface> <primary-ip-address> [secondary-ip-address]\"\r\n    exit 1\r\nfi\r\n\r\n# Extract arguments\r\nINTERFACE=$1\r\nPRIMARY_IP=$2\r\nSECONDARY_IP=${3:-}  # Optional third argument\r\n\r\n# Path to Netplan configuration file\r\nNETPLAN_CONFIG=\"\/etc\/netplan\/01-netcfg.yaml\"\r\n\r\n# Backup current Netplan configuration\r\nif [ -f \"$NETPLAN_CONFIG\" ]; then\r\n    echo \"Backing up current Netplan configuration to ${NETPLAN_CONFIG}.bak\"\r\n    sudo cp $NETPLAN_CONFIG \"${NETPLAN_CONFIG}.bak\"\r\nelse\r\n    echo \"No existing Netplan configuration found. Creating a new one.\"\r\nfi\r\n\r\n# Start generating Netplan configuration\r\necho \"network:\r\n  version: 2\r\n  renderer: networkd\r\n  ethernets:\r\n    $INTERFACE:\r\n      dhcp4: no\r\n      addresses:\" | sudo tee $NETPLAN_CONFIG\r\n\r\n# Add primary IP address with subnet mask\r\necho \"        - ${PRIMARY_IP}\/24\" | sudo tee -a $NETPLAN_CONFIG\r\n\r\n# Add secondary IP address with subnet mask if provided\r\nif [ -n \"$SECONDARY_IP\" ]; then\r\n    echo \"        - ${SECONDARY_IP}\/24\" | sudo tee -a $NETPLAN_CONFIG\r\nfi\r\n\r\n# Apply Netplan configuration\r\nsudo netplan apply\r\n\r\necho \"Netplan configuration applied for $INTERFACE. Primary IP: $PRIMARY_IP${SECONDARY_IP:+, Secondary IP: $SECONDARY_IP}\"<\/code><\/pre>\n<\/div>\n<p>\u3053\u306ebash\u30d5\u30a1\u30a4\u30eb\u3092\u9069\u5f53\u306a\u5834\u6240\u3067\u4f5c\u6210\u3057\u307e\u3059\u3002\uff08\u3053\u3053\u3067\u306fconfigureNetPlan.sh\u3068\u3044\u3046\u540d\u524d\u306b\u3057\u307e\u3059\uff09<br \/>\n\u305d\u306e\u5f8c\u3001\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u3057\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ vi configureNetPlan.sh\r\n$ bash configureNetPlan.sh eth0 192.168.123.18 192.168.1.200<\/code><\/pre>\n<\/div>\n<p>\u3053\u308c\u3067\u3046\u307e\u304f\u3044\u3063\u3066\u3044\u308c\u3070\u3001\u4e0b\u8a18\u306eping\u304c\u901a\u308b\u306f\u305a\u3067\u3059\u3002<br \/>\n\u306a\u304aMid360\u306eIP\u30a2\u30c9\u30ec\u30b9\u306exx\u306f\u30b7\u30ea\u30a2\u30eb\u30ca\u30f3\u30d0\u30fc\u306e\u4e0b\u4e8c\u6841\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ ping 192.168.1.200\r\n$ ping 192.168.1.1xx # Mid360 IP\r\n$ ping 192.168.123.161 # go2 internal pc<\/code><\/pre>\n<\/div>\n<p>&nbsp;<\/p>\n<h3>\uff12\uff0elivox_ros_driver2\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/h3>\n<hr \/>\n<p>Docking Station\u3092\u30cd\u30c3\u30c8\u63a5\u7d9a\u3057\u307e\u3059\u3002<br \/>\n<a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/go-m8010-6-dev-doc.html\">\u3010Unitree Go2\u3011Docking Station \u306e\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u63a5\u7d9a\u65b9\u6cd5<\/a><\/p>\n<p>\u305d\u306e\u5f8c\u3001\u4e0b\u8a18\u306e\u3088\u3046\u306blivox_ros_driver2\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ git clone https:\/\/github.com\/Livox-SDK\/livox_ros_driver2.git ws_livox\/src\/livox_ros_driver2<\/code><\/pre>\n<\/div>\n<p>livox_ros_driver2\/config\/MID360_config.json\u30d5\u30a1\u30a4\u30eb\u3092\u3001\u5148\u307b\u3069\u8a2d\u5b9a\u3057\u305fIP\u30a2\u30c9\u30ec\u30b9\u306b\u4fee\u6b63\u3057\u307e\u3059\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/livox_ros_driver2_config.png\" \u3000alt=\"\" width=\"100%\" \/><br \/>\n\uff08\u753b\u50cf\u306f\u3001mid360\u3092192.168.123.20\u306b\u3057\u305f\u5834\u5408\uff09<\/p>\n<p>\u305d\u306e\u5f8c\u3001\u30b3\u30f3\u30d1\u30a4\u30eb\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ source \/opt\/ros\/foxy\/setup.sh\r\n$ .\/build.sh ROS2<\/code><\/pre>\n<\/div>\n<p>\u3059\u308b\u3068\u4e0b\u8a18\u306e\u3088\u3046\u306bWARNING\u304c\u51fa\u307e\u3059\u304c\u3001\u3053\u308c\u3067\u554f\u984c\u3042\u308a\u307e\u305b\u3093\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ .\/build.sh ROS2\r\nWorking Path: \/home\/koji\/livox_ws\/livox_ros_driver2\/src\/livox_ros_driver2\r\nROS version is: ROS2\r\nStarting >>> livox_ros_driver2\r\n[Processing: livox_ros_driver2]                             \r\n--- stderr: livox_ros_driver2                                \r\n** WARNING ** io features related to pcap will be disabled\r\n** WARNING ** io features related to png will be disabled\r\n** WARNING ** io features related to libusb-1.0 will be disabled\r\n\/usr\/include\/apr-1.0\r\napr-1\r\n---\r\nFinished <<< livox_ros_driver2 [47.6s]\r\nSummary: 1 package finished [51.8s]\r\n  1 package had stderr output: livox_ros_driver2<\/code><\/pre>\n<\/div>\n<p>&nbsp;<\/p>\n<h3>\uff13\uff0e\u5b9f\u884c<\/h3>\n<hr \/>\n<p>\u3042\u3068\u306f\u5b9f\u884c\u3067\u3059\u3002<br \/>\nDocking Station\u4e0a\u3067\u884c\u3046\u5834\u5408\u3001unitree_ros2\u3092source\u3057\u306a\u3044\u3068\u3046\u307e\u304f\u3044\u304b\u306a\u3044\u5834\u5408\u304c\u3042\u308b\u306e\u3067\u3001\u305d\u308c\u3092\u3057\u3066\u304b\u3089\u884c\u3044\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ source \/path\/to\/unitree_ros2\/unitree_ros2_setup.sh\r\n$ . install\/setup.bash\r\n$ ros2 launch livox_ros_driver2 rviz_MID360_launch.py<\/code><\/pre>\n<\/div>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/livox_ros_driver2_rviz2_point.png\" \u3000alt=\"\" width=\"100%\" \/><br \/>\n\u3053\u306e\u3088\u3046\u306b\u70b9\u7fa4\u30c7\u30fc\u30bf\u3092\u53d6\u5f97\u3067\u304d\u308c\u3070\u3001\u6210\u529f\u3067\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\u304a\u308f\u308a\u306b<\/h3>\n<p>\u672c\u8a18\u4e8b\u3067\u306fMid360\u7248\u306eROS2 foxy\u306b\u304a\u3051\u308b\u52d5\u4f5c\u78ba\u8a8d\u65b9\u6cd5\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 \u672c\u8a18\u4e8b\u3067\u306f\u3001\u30aa\u30d7\u30b7\u30e7\u30f3\u306eMid360\u7248\u306e\u52d5\u4f5c\u78ba\u8a8d\u65b9\u6cd5\u3092\u6848\u5185\u3057\u307e\u3059\u3002 \ud83d\udcd8 Mid360 \u5229\u7528\u30ac\u30a4\u30c9\u30fb\u30b7\u30ea\u30fc\u30ba\uff08\u51683\u56de\uff09 \u3010\u524d\u7de8\u3011Mid360\u3092\u52d5\u304b\u3057\u3066\u307f\u308b\uff08\u73fe\u5728\u306e\u8a18\u4e8b\uff09 \u3010\u4e2d\u7de8\u3011Mid360\u3067SLAM\u3092\u5b9f\u884c\u3059\u308b \u3010 &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-345636","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\/345636","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=345636"}],"version-history":[{"count":14,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345636\/revisions"}],"predecessor-version":[{"id":347296,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345636\/revisions\/347296"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=345636"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=345636"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=345636"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}