{"id":345650,"date":"2024-03-19T17:48:55","date_gmt":"2024-03-19T08:48:55","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=345650"},"modified":"2025-07-22T09:39:51","modified_gmt":"2025-07-22T00:39:51","slug":"mid360_slam_fast-lio","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/mid360_slam_fast-lio.html","title":{"rendered":"\u3010Unitree Go2\u3011Mid360\u3067SLAM\u3092\u5b9f\u884c\u3059\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\u3092\u7528\u3044\u305fSLAM\u306e\u65b9\u6cd5\u3092\u6848\u5185\u3057\u307e\u3059\u3002<br \/>\n\u4eca\u56de\u306fFAST-LIO\u3068\u3044\u3046\u3082\u306e\u3092\u4f7f\u3063\u3066\u3044\u304d\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><a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/techshare_mid360_foxy.html\" target=\"_blank\">\u3010\u524d\u7de8\u3011Mid360\u3092\u52d5\u304b\u3057\u3066\u307f\u308b<\/a><\/li>\n<li><span style=\"color: #000; font-weight: bold;\">\u3010\u4e2d\u7de8\u3011Mid360\u3067SLAM\u3092\u5b9f\u884c\u3059\u308b\uff08\u73fe\u5728\u306e\u8a18\u4e8b\uff09<\/span><\/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+)<\/strong>\uff08AIR\/PRO\u3067\u306f\u306a\u3044\u3082\u306e\uff09<\/li>\n<li>\u4ed8\u5c5eLiDAR\uff1aMid-360<\/li>\n<\/ul>\n<p>\u203bFAST-LIO\u306f\u304b\u306a\u308a\u91cd\u3044\u306e\u3067\u3001Orin NX\u3067\u884c\u3046\u3053\u3068\u3092\u524d\u63d0\u3068\u3057\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\uff11\uff0emid360\u306eip\u8a2d\u5b9a<\/h3>\n<hr \/>\n<p><a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/techshare_mid360_foxy.html\">\u3010Unitree Go2\u3011Mid360\u3092\u52d5\u304b\u3057\u3066\u307f\u308b<\/a><br \/>\n\u306e\uff11\u306e\u9805\u3092\u898b\u3066\u3001\u63a5\u7d9a\u8a2d\u5b9a\u3092\u3057\u307e\u3059\u3002<\/p>\n<p>\u672c\u8a18\u4e8b\u3067\u306f\u3001\u4e0b\u8a18\u306e\u3088\u3046\u306a\u8a2d\u5b9a\u3068\u3057\u3066\u9032\u3081\u307e\u3059\u304c\u3001IP\u30a2\u30c9\u30ec\u30b9\u304c\u7570\u306a\u308b\u5834\u5408\u306f\u9069\u5b9c\u7f6e\u304d\u63db\u3048\u3066\u8aad\u307f\u9032\u3081\u3066\u304f\u3060\u3055\u308c\u3070\u554f\u984c\u3042\u308a\u307e\u305b\u3093\u3002<\/p>\n<ul>\n<li>Mid360 IP\uff1a192.168.123.20<\/li>\n<li>Docking Staion IP\uff1a192.168.123.18<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>\uff12\uff0eFAST-LIO\u306e\u5c0e\u5165<\/h3>\n<hr \/>\n<p>\u672c\u8a18\u4e8b\u3067\u306f\u3001FAST-LIO\u3068\u3044\u3046SLAM\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3092\u7528\u3044\u305f\u65b9\u6cd5\u3092\u89e3\u8aac\u3057\u307e\u3059\u3002<br \/>\n\u3053\u308c\u306f\uff08\u304a\u305d\u3089\u304f\uff09foxy\u306b\u5bfe\u5fdc\u3057\u3066\u3044\u307e\u305b\u3093\u306e\u3067\u3001docker\u3092\u7528\u3044\u305fhumble\u74b0\u5883\u3092\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u3057\u3066\u3044\u304d\u307e\u3059\u3002<\/p>\n<h5>2-1. \u30cd\u30c3\u30c8\u63a5\u7d9a<\/h5>\n<p>Docking Station\u3092\u30cd\u30c3\u30c8\u63a5\u7d9a\u3057\u307e\u3059\u3002<br \/>\n<a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/go2_internet_access.html\">\u3010Unitree Go2\u3011Docking Station \u306e\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u63a5\u7d9a\u65b9\u6cd5<\/a><\/p>\n<h5>2-2. livox_ros_driver2\u3068FAST-LIO\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9<\/h5>\n<p>livox_ros_driver2\u3068FAST-LIO\uff08\u3068docker file\uff09\u304c\u307e\u3068\u3081\u3089\u308c\u305fgit\u30ea\u30dd\u30b8\u30c8\u30ea\uff08<a href=\"https:\/\/github.com\/Taeyoung96\/FAST_LIO_ROS2\">https:\/\/github.com\/Taeyoung96\/FAST_LIO_ROS2<\/a>\uff09\u304c\u3042\u3063\u305f\u306e\u3067\u3001\u3053\u308c\u3092\u4f7f\u3044\u307e\u3059\u3002\u305f\u3060\u3001\u3053\u308c\u306fAMD\u7cfb\u5bfe\u5fdc\u306e\u3082\u306e\u306a\u306e\u3067\u3001\u5f0a\u793e\u3067ARM\u3067\u4f7f\u3048\u308b\u3088\u3046\u306b\u4fee\u6b63\u3057\u307e\u3057\u305f\u3002\uff08<a href=\"https:\/\/github.com\/TechShare-inc\/FAST_LIO_ROS2\">https:\/\/github.com\/TechShare-inc\/FAST_LIO_ROS2<\/a>\uff09<br \/>\n\u3053\u308c\u3092Docking Station\u306e\u9069\u5f53\u306a\u5834\u6240\u306b\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ git clone https:\/\/github.com\/TechShare-inc\/FAST_LIO_ROS2 --recursive<\/code><\/pre>\n<\/div>\n<h5>2-3. docker\u30a4\u30e1\u30fc\u30b8\u306e\u4f5c\u6210<\/h5>\n<p>\u307e\u305a\u3001nvidia-docker2\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ sudo apt-get update\r\n$ sudo apt-get install -y nvidia-docker2\r\n$ sudo systemctl restart docker<\/code><\/pre>\n<\/div>\n<p>\u305d\u306e\u5f8c\u3001docker\u30a4\u30e1\u30fc\u30b8\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ cd \/path\/to\/FAST_LIO_ROS2\/docker\r\n$ docker build -t fast-lio-ros2:latest .<\/code><\/pre>\n<\/div>\n<p>\u203b\u304b\u306a\u308a\u6642\u9593\u304c\u304b\u304b\u308a\u307e\u3059<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/make_docker_fastlio_orin.png\" \u3000alt=\"\" width=\"100%\" \/><\/p>\n<h5>2-4. docker\u30b3\u30f3\u30c6\u30ca\u306e\u4f5c\u6210<\/h5>\n<p>\u30b3\u30f3\u30c6\u30ca\u3092\u4f5c\u6210\u3059\u308b\u969b\u306b\u3001\u5b9f\u884c\u3057\u3066\u3044\u308b\u69d8\u5b50\u306e\u8868\u793a\u3092NoMachine\u4e0a\u3067\u884c\u3048\u308b\u3088\u3046\u306b\u3059\u308b\u305f\u3081\u306b\u3001\u3053\u306e\u6642\u70b9\u3067NoMachine\u304b\u3089\u63a5\u7d9a\u3057GUI\u4e0a\u306eterminal\u304b\u3089\u30b3\u30f3\u30c6\u30ca\u306e\u4f5c\u6210\u3092\u884c\u3044\u307e\u3059\u3002<br \/>\n\u53c2\u8003\uff1a<a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/go2_nomachine.html\">\u3010Unitree Go2\u3011NoMachine\u3067Docking Station\u306eGUI\u3092\u4f7f\u3046<\/a><\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ cd \/path\/to\/FAST_LIO_ROS2\/docker\r\n$ .\/container_run.sh fast-lio-ros2 fast-lio-ros2:latest<\/code><\/pre>\n<\/div>\n<p>\u3053\u308c\u3067docker\u30b3\u30f3\u30c6\u30ca\u304c\u4f5c\u6210\u3055\u308c\u307e\u3057\u305f\u3002<\/p>\n<p>\u203b2024\/11\/5\u8ffd\u8a18<br \/>\n\u6700\u65b0\u306edocker\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u3068\u4e0b\u8a18\u306e\u3088\u3046\u306a\u30a8\u30e9\u30fc\u304c\u767a\u751f\u3057\u307e\u3059\u3002\u3053\u308c\u306fnvidia-docker\u3068\u3044\u3046\u30b3\u30de\u30f3\u30c9\u304c\u8a8d\u8b58\u3055\u308c\u3066\u3044\u306a\u3044\u305f\u3081\u3067\u3059\u3002<br \/>\n\u3053\u306e\u5834\u5408\u3001nvidia-docker\u3067\u306f\u306a\u304f\u3001\u30b7\u30f3\u30d7\u30eb\u306bdokcer\u3092\u4f7f\u3063\u3066\u540c\u3058\u3088\u3046\u306b\u9032\u3081\u3066\u3044\u305f\u3060\u3051\u308c\u3070\u554f\u984c\u3042\u308a\u307e\u305b\u3093\u3002<br \/>\n\u53c2\u8003\uff1a<a href=\"https:\/\/github.com\/TechShare-inc\/FAST_LIO_ROS2\/blob\/a7871fa0fd9383cc74c66a2c16eec73d3f6defe3\/docker\/container_run.sh#L24\">\u4fee\u6b63\u5f8c\u306econtainer_run.sh\u30d5\u30a1\u30a4\u30eb<\/a><\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ .\/container_run.sh fast-lio-ros2 fast-lio-ros2:latest\r\nCurrent working directory: \/home\/unitree\/FAST_LIO_ROS2\r\n.\/container_run.sh: line 24: nvidia-docker: command not found<\/code><\/pre>\n<\/div>\n<h5>2-5. \u30b3\u30f3\u30d1\u30a4\u30eb<\/h5>\n<p>\u30b3\u30f3\u30d1\u30a4\u30eb\u306e\u524d\u306b\u3001Mid360\u306eip\u30a2\u30c9\u30ec\u30b9\u3092\u4fee\u6b63\u3057\u307e\u3059\u3002<br \/>\nLiDAR IP\u3068\u53d7\u3051\u53d6\u308a\u5074\u306eIP\u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/livox_ros_driver2_ip.png\" \u3000alt=\"\" width=\"100%\" \/><\/p>\n<p>\u6b21\u306b\u30b3\u30f3\u30d1\u30a4\u30eb\u3057\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code># cd ~\/ros2_ws\/src\/livox_ros_driver2\r\n# .\/build.sh humble<\/code><\/pre>\n<\/div>\n<p>\u3053\u308c\u3067\u3001livox_ros_driver2\u3068FAST-LIO\u306e\u4e21\u65b9\u304c\u30b3\u30f3\u30d1\u30a4\u30eb\u3055\u308c\u307e\u3057\u305f\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\uff13\uff0e\u5b9f\u884c<\/h3>\n<hr \/>\n<h5>3-1. livox_ros_driver2\u306e\u5b9f\u884c<\/h5>\n<p>\u4e0b\u8a18\u306e\u3088\u3046\u306b\u884c\u3046\u3053\u3068\u3067\u3001MID360\u306e\u70b9\u7fa4\u53d6\u5f97\u3092docker\/humble\u74b0\u5883\u3067\u884c\u3048\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ docker exec -it fast-lio-ros2 bash\r\n# . install\/setup.bash\r\n# ros2 launch livox_ros_driver2 rviz_MID360_launch.py<\/code><\/pre>\n<\/div>\n<p>\u203b\u4e0b\u8a18\u306e\u3088\u3046\u306a\u30a8\u30e9\u30fc\u304c\u767a\u751f\u3059\u308b\u5834\u5408\u306f\u3001DISPLAY\u306e\u8a2d\u5b9a\u304c\u3046\u307e\u304f\u884c\u3063\u3066\u3044\u306a\u3044\u3053\u3068\u304c\u539f\u56e0\u3067\u3059\u3002\u4e00\u5ea6docker\u3092\u9589\u3058\u3066\u304b\u3089\u3001`xhost +`\u30b3\u30de\u30f3\u30c9\u3092\u30db\u30b9\u30c8\u5074\u3067\u5b9f\u884c\u3057\u3066\u304b\u3089\u8d77\u52d5\u3057\u76f4\u3059\u3053\u3068\u3067\u30a8\u30e9\u30fc\u304c\u89e3\u6d88\u3055\u308c\u307e\u3059\u3002<br \/>\n\u30a8\u30e9\u30fc\u5bfe\u51e6\u65b9\u6cd5\uff1a<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ xhost +\r\n$ docker ps\r\n$ docker start 6d600668a465\r\n$ docker exec -it fast-lio-ros2 bash<\/code><\/pre>\n<\/div>\n<p>\u30a8\u30e9\u30fc\u5185\u5bb9\uff1a<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>[ERROR] [rviz2-2]: process has died [pid 1471, exit code -6, cmd '\/opt\/ros\/humble\/lib\/rviz2\/rviz2 --display-config \/root\/ros2_ws\/install\/livox_ros_driver2\/share\/livox_ros_driver2\/launch_ROS2\/..\/config\/display_point_cloud_ROS2.rviz --ros-args'].<\/code><\/pre>\n<\/div>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/livo_ros_driver2_humble.png\" \u3000alt=\"\" width=\"100%\" \/><\/p>\n<h5>3-2. FAST-LIO\u306e\u5b9f\u884c<\/h5>\n<p>\u4e0a\u8a18\u306elivox_ros_driver2\u3092\u5b9f\u884c\u3055\u305b\u305f\u72b6\u614b\u3067\u3001\u65b0\u3057\u3044terminal\u3092\u958b\u304dFAST-LIO\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ docker exec -it fast-lio-ros2 bash\r\n# . install\/setup.bash\r\n# ros2 launch fast_lio mapping_mid360.launch.py<\/code><\/pre>\n<\/div>\n<p>\u3059\u308b\u3068\u3001\u30de\u30c3\u30d7\u304c\u751f\u6210\u3055\u308c\u307e\u3059\u3002<br \/>\n\u2026\u2026\u304c\u3001\u5c11\u3057\u6b69\u304b\u305b\u3066\u3044\u308b\u3068\u30de\u30c3\u30d7\u304c\u5439\u304d\u98db\u3093\u3067\u3044\u304d\u307e\u3059\u3002<br \/>\n\u203b\uff11\u3064\u76ee\u306e\u753b\u50cf\u306e\u3088\u3046\u306bmapping\u306e\u65b9\u3067`Failed to find match for field &#8216;reflectivity&#8217;.`\u3068\u51fa\u529b\u3055\u308c\u307e\u3059\u304c\u3001\u3053\u308c\u3067\u6b63\u5e38\u3067\u3059\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/11\/FAST-LIO_run.png\" \u3000alt=\"\" width=\"100%\" \/><br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/fast_lio_failure.png\" \u3000alt=\"\" width=\"100%\" \/><br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/fast_lio_failure2.png\" \u3000alt=\"\" width=\"100%\" \/><\/p>\n<p>\u3053\u308c\u306fMid360\u3092\u659c\u3081\u306b\u53d6\u308a\u4ed8\u3051\u3066\u3044\u308b\u3053\u3068\u3068\u3001Mid360\u306e\u5185\u81d3\u306eIMU\u306e\u6027\u80fd\u304c\u4f4e\u3044\u3053\u3068\u306b\u3088\u308a\u307e\u3059\u3002<br \/>\n\u6b21\u306e\u8a18\u4e8b\u3067\u306f\u3001\u3053\u308c\u3092\u4fee\u6b63\u3057\u3001\u3061\u3083\u3093\u3068\u5d29\u308c\u306a\u3044FAST-LIO\u3092\u4f7f\u3063\u3066\u3044\u304d\u307e\u3059\u3002<\/p>\n<p>\u6b21\u306e\u8a18\u4e8b\uff1a<br \/>\n<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><\/p>\n<p>&nbsp;<\/p>\n<h3>\u304a\u308f\u308a\u306b<\/h3>\n<p>\u672c\u8a18\u4e8b\u3067\u306fMid360\u7248\u3092\u7528\u3044\u305fSLAM\u306e\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\u3092\u7528\u3044\u305fSLAM\u306e\u65b9\u6cd5\u3092\u6848\u5185\u3057\u307e\u3059\u3002 \u4eca\u56de\u306fFAST-LIO\u3068\u3044\u3046\u3082\u306e\u3092\u4f7f\u3063\u3066\u3044\u304d\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 &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-345650","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\/345650","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=345650"}],"version-history":[{"count":16,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345650\/revisions"}],"predecessor-version":[{"id":347297,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345650\/revisions\/347297"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=345650"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=345650"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=345650"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}