{"id":345664,"date":"2024-03-19T18:59:45","date_gmt":"2024-03-19T09:59:45","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=345664"},"modified":"2025-07-22T09:41:27","modified_gmt":"2025-07-22T00:41:27","slug":"mid360-on-go2_fast-lio","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/mid360-on-go2_fast-lio.html","title":{"rendered":"\u3010Unitree Go2\u3011Mid360 on Go2\u3067FAST-LIO\u3092\u4f7f\u3046"},"content":{"rendered":"<h3>\u521d\u3081\u306b<\/h3>\n<hr \/>\n<p>\u672c\u8a18\u4e8b\u3067\u306f\u3001<a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/mid360_slam_fast-lio.html\">\u3010Unitree Go2\u3011Mid360\u3067SLAM\u3092\u5b9f\u884c\u3059\u308b<\/a>\u306e\u7d9a\u304d\u306b\u306a\u308a\u307e\u3059\u3002<br \/>\n\u524d\u56de\u306e\u8a18\u4e8b\u3067\u306f\u72ac\u3092\u5c11\u3057\u6b69\u304b\u305b\u308b\u3068\u3001\u5730\u56f3\u304c\u5d29\u308c\u3066\u3057\u307e\u3044\u307e\u3057\u305f\u3002<br \/>\n\u672c\u8a18\u4e8b\u3067\u306fGo2\u5185\u8535\u306eIMU\u3092\u7528\u3044\u3066\u3001\u5b89\u5b9a\u7684\u306aSLAM\u3092\u5b9f\u73fe\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><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><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><span style=\"color: #000; font-weight: bold;\">\u3010\u5f8c\u7de8\u3011Mid360 on Go2\u3067FAST-LIO\u3092\u4f7f\u3046\uff08\u73fe\u5728\u306e\u8a18\u4e8b\uff09<\/span><\/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\uff0eMID-360\u306b\u3088\u308bFAST-LIO\u306e\u5b9f\u884c<\/h3>\n<hr \/>\n<p>\u672c\u8a18\u4e8b\u3067\u306f\u4e0b\u8a18\u306e\u8a18\u4e8b\u306e\u7d9a\u304d\u306b\u306a\u308a\u307e\u3059\u3002<br \/>\nMID360\u5358\u4f53\u306b\u3088\u308bFAST-LIO\u3092\u5b9f\u884c\u3067\u304d\u308b\u3068\u3053\u308d\u307e\u3067\u306f\u3001\u3067\u304d\u3066\u3044\u308b\u3068\u3057\u307e\u3059\u3002<br \/>\n<a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/mid360_slam_fast-lio.html\">\u3010Unitree Go2\u3011Mid360\u3067SLAM\u3092\u5b9f\u884c\u3059\u308b<\/a><\/p>\n<p>&nbsp;<\/p>\n<h3>\uff12\uff0ego2 imu\u306e\u914d\u4fe1<\/h3>\n<hr \/>\n<p>Unitree Go2\u306e\u5185\u90e8\u306b\u642d\u8f09\u3055\u308c\u305fIMU\u306f\u3001Unitree\u793e\u72ec\u81ea\u958b\u767a\u306eIMU\u3067\u3059\u304c\u3001Go2\u306e\u9ad8\u6027\u80fd\u306a\u904b\u52d5\u3092\u652f\u3048\u308b\u3082\u306e\u3067\u3042\u308a\u3001\u304b\u306a\u308a\u9ad8\u6027\u80fd\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002<br \/>\n\u672c\u8a18\u4e8b\u3067\u306f\u3053\u306eIMU\u3092\u7528\u3044\u3066\u3001FAST-LIO\u3092\u5b9f\u884c\u3055\u305b\u308b\u3088\u3046\u306b\u4fee\u6b63\u3092\u52a0\u3048\u307e\u3059\u3002<\/p>\n<h5>2-1. Docker File\u306e\u4fee\u6b63<\/h5>\n<p>\u307e\u305a\u3001go2 IMU\u3092\u53d6\u5f97\u3059\u308b\u305f\u3081\u306b\u3001<a href=\"https:\/\/github.com\/unitreerobotics\/unitree_ros2\">unitree_ros2<\/a>\u3092\u4f7f\u3048\u308b\u3088\u3046\u306b\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<br \/>\n\u305d\u306e\u305f\u3081\u306bDocker File\u3092\u4fee\u6b63\u3057\u307e\u3059\u3002\u4e0b\u8a18\u306e\u5185\u5bb9\u3092\u753b\u50cf\u306e\u3042\u305f\u308a\u306b\u5dee\u3057\u8fbc\u307f\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code># for unitree_ros2\r\nRUN apt-get update -q && \\\r\napt-get install -y \\\r\nros-humble-rosidl-generator-dds-idl \\\r\nros-humble-rmw-cyclonedds-cpp\r\n# Download unitree_ros2\r\nWORKDIR \/root\/\r\nRUN git clone https:\/\/github.com\/unitreerobotics\/unitree_ros2<\/code><\/pre>\n<\/div>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/support_unitree_ros2_docker.png\" \u3000alt=\"\" width=\"100%\" \/><\/p>\n<h5>2-2. docker\u30a4\u30e1\u30fc\u30b8\u306e\u4f5c\u6210<\/h5>\n<p>\u305d\u306e\u5f8c\u3001docker\u30a4\u30e1\u30fc\u30b8\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002<br \/>\n\u306a\u304a\u3001\u524d\u306e\u8a18\u4e8b\u3067\u4f5c\u3063\u305fdocker\u30b3\u30f3\u30c6\u30ca\u306f\u524a\u9664\u3057\u3066\u304a\u304d\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ docker rm fast-lio-ros2\r\n$ cd \/path\/to\/FAST_LIO_ROS2\/docker\r\n$ docker build -t fast-lio-ros2:latest .<\/code><\/pre>\n<\/div>\n<p>\u203b\u9014\u4e2d\u307e\u3067\u306f\u540c\u3058\u306a\u306e\u3067\u3001\u3055\u307b\u3069\u6642\u9593\u306f\u304b\u304b\u308a\u307e\u305b\u3093<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/support_unitree_ros2_docker.png\" \u3000alt=\"\" width=\"100%\" \/><\/p>\n<h5>2-4. docker\u30b3\u30f3\u30c6\u30ca\u306e\u4f5c\u6210<\/h5>\n<p>\u524d\u306e\u8a18\u4e8b\u3068\u540c\u69d8\u3001\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<h5>2-5. livox_ros_driver2\u3068FAST-LIO\u306e\u30b3\u30f3\u30d1\u30a4\u30eb<\/h5>\n<p>\u3053\u3053\u3067\u3082\u524d\u306e\u8a18\u4e8b\u3068\u540c\u69d8\u306b\u3001\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<h5>2-6. unitree_ros2\u306e\u74b0\u5883\u8a2d\u5b9a<\/h5>\n<p>unitree_ros2\u306e\u74b0\u5883\u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002<br \/>\n\uff08\u53c2\u7167\uff1a<a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/unitree-go2_pc_lan.html\">\u3010Unitree Go2\u3011SDK or ROS\u3092\u4f7f\u3046\u65b9\u6cd5<\/a>\u306e\u6700\u5f8c\u306e\u65b9\u3092\u8a73\u3057\u304f\u306f\u3054\u89a7\u304f\u3060\u3055\u3044\uff09<\/p>\n<div class=\"hcb_wrap\">\n<pre><code># cd ~\/unitree_ros2\/cyclonedds_ws\r\n# colcon build<\/code><\/pre>\n<\/div>\n<h5>2-7. Go2 IMU\u306e\u914d\u4fe1\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\uff06\u30b3\u30f3\u30d1\u30a4\u30eb<\/h5>\n<p>\u4eca\u56de\u3001Go2 IMU\u306epublisher node\u306b\u3064\u3044\u3066\u306f\u5f0a\u793e\u3067\u4f5c\u6210\u3057\u307e\u3057\u305f\u3002\uff08<a href=\"https:\/\/github.com\/TechShare-inc\/go2_unitree_ros2\/tree\/imu_publisher\">imu_publisher<\/a>\uff09<\/p>\n<p>\u3053\u308c\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3001\u30b3\u30f3\u30d1\u30a4\u30eb\u3057\u307e\u3059\u3002<br \/>\n\u306a\u304a\u3001\u30b3\u30f3\u30d1\u30a4\u30eb\u3059\u308b\u3068\u304d\u306bunitree_ros2\u3092\u53c2\u7167\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code># cd ~\/ros2_ws\/src\r\n# git clone -b imu_publisher https:\/\/github.com\/TechShare-inc\/go2_unitree_ros2.git imu_publisher\r\n# source \/opt\/ros\/humble\/setup.bash\r\n# source ~\/unitree_ros2\/cyclonedds_ws\/install\/setup.bash\r\n# cd ~\/ros2_ws\r\n# colcon build --packages-select go2_demo<\/code><\/pre>\n<\/div>\n<p>&nbsp;<\/p>\n<h3>\uff13\uff0e\u5b9f\u884c<\/h3>\n<hr \/>\n<h5>3-1. livox_ros_driver2\u306e\u5b9f\u884c\u3068FAST-LIO\u306e\u5b9f\u884c<\/h5>\n<p>\u307e\u305a\u306f\u3001\u524d\u306e\u8a18\u4e8b\u3068\u540c\u69d8\u306e\u3053\u3068\u304c\u884c\u3048\u308b\u304b\u78ba\u8a8d\u3057\u307e\u3059\u3002<\/p>\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><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/livo_ros_driver2_humble.png\" \u3000alt=\"\" width=\"100%\" \/><\/p>\n<p>\u3055\u3089\u306b\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\u304c\u3001\u5c11\u3057\u6b69\u304b\u305b\u3066\u3044\u308b\u3068\u30de\u30c3\u30d7\u304c\u5439\u304d\u98db\u3093\u3067\u3044\u304f\u3068\u3044\u3046\u540c\u3058\u3088\u3046\u306a\u72b6\u6cc1\u306b\u306a\u308b\u3053\u3068\u304c\u78ba\u8a8d\u3067\u304d\u307e\u3059\u3002<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<h5>3-2. FAST-LIO\u306e\u53c2\u7167IMU\u306e\u5909\u66f4<\/h5>\n<p>FAST-LIO\/config\/mid360.yaml\u306b\u3064\u3044\u3066\u3001\/livox\/imu\u3092\/go2\/imu\u306b\u5909\u66f4\u3057\u307e\u3059\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/change_reference_imu.png\" \u3000alt=\"\" width=\"100%\" \/><\/p>\n<p>\u305d\u306e\u5f8c\u3001\u5909\u66f4\u3092\u53cd\u6620\u3055\u305b\u308b\u305f\u3081\u306b\u30b3\u30f3\u30d1\u30a4\u30eb\u3057\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code># # cd ~\/ros2_ws\r\n# colcon build --packages-select fast_lio<\/code><\/pre>\n<\/div>\n<h5>3-3. Go2IMU\u3068MID360\u3092\u7528\u3044\u305fFAST-LIO\u3092\u5b9f\u884c\u3059\u308b<\/h5>\n<p>\u307e\u305a\u3001\/go2\/imu\u3092\u914d\u4fe1\u3057\u307e\u3059\u3002<\/p>\n<p>terminal 1: imu_publisher<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ docker exec -it fast-lio-ros2 bash\r\n# export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp\r\n# . install\/setup.bash\r\n# ros2 run go2_demo imu_publisher<\/code><\/pre>\n<\/div>\n<p>\u6b21\u306b\u3001livox_ros_driver2\u3068FAST-LIO\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n<p>terminal 2: livox_ros_driver2<\/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>terminal 3: FAST-LIO<\/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><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/fast-lio_mid360_go2imu_1.png\" \u3000alt=\"\" width=\"100%\" \/><\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/03\/fast-lio_mid360_go2imu_2.png\" \u3000alt=\"\" width=\"100%\" \/><\/p>\n<p>Go2\u3092\u6b69\u304b\u305b\u3066\u3082\u5730\u56f3\u304c\u3076\u3063\u98db\u3076\u3053\u3068\u306f\u306a\u304f\u3001\u6b63\u3057\u3044\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a\u30fb\u30de\u30c3\u30d4\u30f3\u30b0\u304c\u3067\u304d\u3066\u3044\u308b\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\uff14\uff0e\u554f\u984c\u70b9<\/h3>\n<p>\u30fbMid360\u306e\u53d6\u308a\u4ed8\u3051\u4f4d\u7f6e\u306b\u95a2\u3059\u308b\u4fee\u6b63\uff1a<br \/>\nMid360\u306e\u4f4d\u7f6e\u306b\u3064\u3044\u3066\u306f\u3001\u30e1\u30fc\u30ab\u30fc\u516c\u5f0fFAQ\u306b\u8a18\u8f09\u304c\u3042\u308a\u307e\u3059\u3002<br \/>\n<a href=\"https:\/\/global-serviceconsole.unitree.com\/#\/help\/352\">The position of Go2&#8217;s mid360 relative to the body &#8211; Unitree Help Center<\/a><\/p>\n<p>\u30fb\u8a08\u7b97\u30ea\u30bd\u30fc\u30b9\u306b\u95a2\u3059\u308b\u554f\u984c\uff1a<br \/>\n\u73fe\u5728\u306fJetsonOrin\u306eCPU\u3092\u4f7f\u7528\u3066\u3044\u307e\u3059\u304c\u3001GPU\u306f\u4f7f\u7528\u3057\u3066\u3044\u307e\u305b\u3093\u3002\u3053\u306e\u305f\u3081\u8a18\u4e8b\u306e\u65b9\u6cd5\u3060\u3068\u8a08\u7b97\u529b\u4e0d\u8db3\u3067FAST-LIO\u672c\u6765\u306e\u6027\u80fd\u3092\u5341\u5206\u306b\u767a\u63ee\u3067\u304d\u3066\u3044\u307e\u305b\u3093\u3002<br \/>\n\u89e3\u6c7a\u3059\u308b\u306b\u306f\u3001GPU\u3092\u4f7f\u7528\u3059\u308bSLAM\u3092\u4f7f\u7528\u3059\u308b\u304b\u3001\u5225\u306ePC\u3092Go2\u306b\u8f09\u305b\u3066\u305d\u306ePC\u3067\u884c\u3046\u306a\u3069\u306e\u65b9\u6cd5\u304c\u8003\u3048\u3089\u308c\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\u304a\u308f\u308a\u306b<\/h3>\n<p>\u672c\u8a18\u4e8b\u3067\u306fGo2\u5185\u8535\u306eIMU\u3068Mid360\u3092\u7528\u3044\u305fGo2 SLAM\u30b5\u30f3\u30d7\u30eb\u306e\u5b9f\u884c\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\u3010Unitree Go2\u3011Mid360\u3067SLAM\u3092\u5b9f\u884c\u3059\u308b\u306e\u7d9a\u304d\u306b\u306a\u308a\u307e\u3059\u3002 \u524d\u56de\u306e\u8a18\u4e8b\u3067\u306f\u72ac\u3092\u5c11\u3057\u6b69\u304b\u305b\u308b\u3068\u3001\u5730\u56f3\u304c\u5d29\u308c\u3066\u3057\u307e\u3044\u307e\u3057\u305f\u3002 \u672c\u8a18\u4e8b\u3067\u306fGo2\u5185\u8535\u306eIMU\u3092\u7528\u3044\u3066\u3001\u5b89\u5b9a\u7684\u306aSLAM\u3092\u5b9f\u73fe &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-345664","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\/345664","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=345664"}],"version-history":[{"count":14,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345664\/revisions"}],"predecessor-version":[{"id":347298,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345664\/revisions\/347298"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=345664"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=345664"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=345664"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}