{"id":345869,"date":"2024-06-06T20:42:48","date_gmt":"2024-06-06T11:42:48","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=345869"},"modified":"2025-07-22T09:48:59","modified_gmt":"2025-07-22T00:48:59","slug":"go2_xt16_foxy","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/go2_xt16_foxy.html","title":{"rendered":"\u3010Unitree Go2\u3011XT16\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\u306eXT16\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 XT16 \u5229\u7528\u30ac\u30a4\u30c9\u30fb\u30b7\u30ea\u30fc\u30ba\uff08\u51682\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\u3011XT16\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\/xt16-on-go2_d-lio.html\" target=\"_blank\" style=\"color: #0074cc;\">\u3010\u5f8c\u7de8\u3011XT16 on Go2\u3067D-LIO\u3092\u4f7f\u3046\u3010SLAM\u3011<\/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\uff1aXT16<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>\uff11\uff0eXT16\u306eip\u8a2d\u5b9a<\/h3>\n<hr \/>\n<p>\u30e1\u30fc\u30ab\u30fc\u516c\u5f0f\u8cc7\u6599<a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/Payload\">Payload &#8211; Go2 SDK Development Guide<\/a>\u306e\u3001LiDAR\u306e\u9805\u76ee\u3092\u53c2\u8003\u306b\u53d6\u308a\u4ed8\u3051\u3092\u884c\u3044\u307e\u3059\u3002<\/p>\n<p>\u6b63\u3057\u304f\u63a5\u7d9a\u3055\u308c\u3066\u3044\u308c\u3070\u3001DockingStation\u304b\u3089<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ ping 192.168.123.20<\/code><\/pre>\n<\/div>\n<p>\u3068\u3057\u305f\u3068\u304d\u306b\u53cd\u5fdc\u304c\u3042\u308a\u307e\u3059\u3002<br \/>\n\u3053\u308c\u304c\u3001XT16\u306eIP\u30a2\u30c9\u30ec\u30b9\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<p>\u901a\u5e38IP\u30a2\u30c9\u30ec\u30b9\u306f\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u6e08\u307f\u3067\u3059\u304c\u3001\u4e0b\u8a18\u306e\u624b\u9806\u3067\u3088\u308a\u8a73\u3057\u3044\u8a2d\u5b9a\u3092\u884c\u3046\u3053\u3068\u3082\u3067\u304d\u307e\u3059\u3002<br \/>\n192.168.123.20\u3092\u30d6\u30e9\u30a6\u30b6\u306b\u6253\u3061\u8fbc\u3080\u3053\u3068\u3067\u8a2d\u5b9a\u753b\u9762\u306b\u79fb\u884c\u3067\u304d\u307e\u3059\u3002<br \/>\nDockingStation(192.168.123.18)\u3067\u70b9\u7fa4\u3092\u53d6\u5f97\u3059\u308b\u5834\u5408\u306f\u3001DestinationIP\u3092192.168.123.18\u306b\u8a2d\u5b9a\u3057\u307e\u3059\u3002\u305d\u306e\u4ed6\u5916\u90e8PC\u304b\u3089\u53d6\u5f97\u3059\u308b\u5834\u5408\u306f\u3001\u305d\u306eIP\u30a2\u30c9\u30ec\u30b9\u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002<br \/>\n\u3082\u3057\u304f\u306f\u753b\u50cf\u306e\u3088\u3046\u306b255.255.255.255\u306b\u3059\u308b\u3053\u3068\u3067\u3001\u4efb\u610f\u306e192.168.123.xxx\u304b\u3089\u53d6\u5f97\u3059\u308b\u3053\u3068\u3082\u3067\u304d\u307e\u3059\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/06\/hesai_setting.png\" alt=\"\" width=\"100%\" \/><br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/06\/hesai_setting2.png\" alt=\"\" width=\"100%\" \/><\/p>\n<p>&nbsp;<\/p>\n<h3>\uff12\uff0ehesai_ros_driver\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\u306b<a href=\"https:\/\/github.com\/HesaiTechnology\/HesaiLidar_ROS_2.0\">hesai_ros_driver<\/a>\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ mkdir -p foxy_ws\/src\r\n$ cd foxy_ws\/src\/\r\n$ git clone --recurse-submodules\r\nhttps:\/\/github.com\/HesaiTechnology\/HesaiLidar_ROS_2.0.git\r\n<\/code><\/pre>\n<\/div>\n<p>\u753b\u50cf\u306e\u3088\u3046\u306bconfig\u3092\u4fee\u6b63\u3057\u307e\u3059\u3002<br \/>\nLiDAR\u306eIP\u30a2\u30c9\u30ec\u30b9\u3092192.168.123.20\u306b\u4fee\u6b63\u3057\u307e\u3059\u3002<br \/>\n\u305d\u306e\u5f8c\u3001\u30b3\u30f3\u30d1\u30a4\u30eb\u3057\u307e\u3059\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/06\/hesai_ros_driver_foxy.png\" alt=\"\" width=\"60%\" \/><\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ cd ..\r\n$ source \/opt\/ros\/foxy\/setup.bash\r\n$ colcon build --symlink-install<\/code><\/pre>\n<\/div>\n<p>\u203b warning\u304c\u5927\u91cf\u306b\u51fa\u3066\u304f\u308b\u304c\u554f\u984c\u306a\u3044<\/p>\n<p>&nbsp;<\/p>\n<h3>\uff13\uff0e\u5b9f\u884c<\/h3>\n<hr \/>\n<p>\u6700\u5f8c\u306b\u5b9f\u884c\u3057\u307e\u3059\u3002<br \/>\n\u3059\u308b\u3068\u3001\u70b9\u7fa4\u304c\u53d6\u5f97\u3067\u304d\u307e\u3057\u305f\u3002<\/p>\n<p>terminal 1:<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ source \/path\/to\/unitree_ros2\/setup.sh \r\n$ . install\/setup.bash \r\n$ ros2 run hesai_ros_driver hesai_ros_driver_node<\/code><\/pre>\n<\/div>\n<p>terminal 2:<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ source \/path\/to\/unitree_ros2\/setup.sh \r\n$ rviz2\r\nframe: hesai_lidar\r\ntopic\u540d: lidar_points<\/code><\/pre>\n<\/div>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/06\/hesai_pointcloud.png\" alt=\"\" width=\"60%\" \/><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\u306fXT16\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\u306eXT16\u7248\u306e\u52d5\u4f5c\u78ba\u8a8d\u65b9\u6cd5\u3092\u6848\u5185\u3057\u307e\u3059\u3002 \ud83d\udcd8 XT16 \u5229\u7528\u30ac\u30a4\u30c9\u30fb\u30b7\u30ea\u30fc\u30ba\uff08\u51682\u56de\uff09 \u3010\u524d\u7de8\u3011XT16\u3092\u52d5\u304b\u3057\u3066\u307f\u308b\uff08\u73fe\u5728\u306e\u8a18\u4e8b\uff09 \u3010\u5f8c\u7de8\u3011XT16 on Go2\u3067D-LIO\u3092\u4f7f\u3046\u3010SLA &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],"tags":[],"class_list":["post-345869","post","type-post","status-publish","format-standard","hentry","category-go2","category-unitree"],"_links":{"self":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345869","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=345869"}],"version-history":[{"count":10,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345869\/revisions"}],"predecessor-version":[{"id":347299,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345869\/revisions\/347299"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=345869"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=345869"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=345869"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}