{"id":345881,"date":"2024-06-10T16:58:30","date_gmt":"2024-06-10T07:58:30","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=345881"},"modified":"2025-07-22T09:52:26","modified_gmt":"2025-07-22T00:52:26","slug":"xt16-on-go2_d-lio","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/xt16-on-go2_d-lio.html","title":{"rendered":"\u3010Unitree Go2\u3011XT16 on Go2\u3067D-LIO\u3092\u4f7f\u3046\u3010SLAM\u3011"},"content":{"rendered":"<h3>\u521d\u3081\u306b<\/h3>\n<hr \/>\n<p>\u672c\u8a18\u4e8b\u3067\u306f\u3001Unitree Go2 XT16\u7248\u3092\u7528\u3044\u305fSLAM\u306e\u65b9\u6cd5\u3092\u6848\u5185\u3057\u307e\u3059\u3002<br \/>\nSLAM\u306e\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306b\u306f\u3044\u308d\u3044\u308d\u306a\u7a2e\u985e\u304c\u3042\u308a\u307e\u3059\u304c\u3001\u4eca\u56de\u306fD-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 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><a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/go2_xt16_foxy.html\" target=\"_blank\" style=\"color: #0074cc;\">\u3010\u524d\u7de8\u3011XT16\u3092\u52d5\u304b\u3057\u3066\u307f\u308b<\/a><\/li>\n<li><span style=\"color: #000; font-weight: bold;\">\u3010\u5f8c\u7de8\u3011XT16 on Go2\u3067D-LIO\u3092\u4f7f\u3046\u3010SLAM\u3011\uff08\u73fe\u5728\u306e\u8a18\u4e8b\uff09<\/span><\/li>\n<\/ul>\n<\/div>\n<p>\u672c\u8a18\u4e8b\u306e\u30b4\u30fc\u30eb\uff08SLAM\u306e\u69d8\u5b50\uff09\uff1a<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/06\/faq_go2_xt16_goal.png\" alt=\"\" width=\"100%\" \/><br \/>\n\u2193\u8a73\u3057\u304f\u306f\u4e0b\u8a18\u52d5\u753b<br \/>\n<a href=\"https:\/\/techshareinc-my.sharepoint.com\/:v:\/g\/personal\/koji_ishikawa_techshare_co_jp\/ERvvtKGvtdZLs8yfQxIun8oBAThPiYNkH1eEktvMg82d-g?nav=eyJyZWZlcnJhbEluZm8iOnsicmVmZXJyYWxBcHAiOiJPbmVEcml2ZUZvckJ1c2luZXNzIiwicmVmZXJyYWxBcHBQbGF0Zm9ybSI6IldlYiIsInJlZmVycmFsTW9kZSI6InZpZXciLCJyZWZlcnJhbFZpZXciOiJNeUZpbGVzTGlua0NvcHkifX0&#038;e=X9PCMz\">\u672c\u8a18\u4e8b\u306e\u30b4\u30fc\u30eb\uff08XT16\u306eSLAM\u8d70\u884c\u306e\u52d5\u753b\uff09<\/a><\/p>\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\uff1aXT16<\/li>\n<\/ul>\n<p>\u203bD-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\uff0ext16\u306eip\u8a2d\u5b9a<\/h3>\n<hr \/>\n<p><a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/go2_xt16_foxy.html\">\u3010Unitree Go2\u3011XT16\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>XT16 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\uff0eD-LIO\u306e\u5c0e\u5165<\/h3>\n<hr \/>\n<p>\u672c\u8a18\u4e8b\u3067\u306f\u3001D-LIO\u3068\u3044\u3046SLAM\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3092\u7528\u3044\u305f\u65b9\u6cd5\u3092\u89e3\u8aac\u3057\u307e\u3059\u3002<br \/>\nDocking Station(Orin NX)\u4e0a\u3067\u884c\u3046\u3053\u3068\u3092\u524d\u63d0\u3068\u3057\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\u53c2\u8003\u8a18\u4e8b\uff1b<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. \u672c\u8a18\u4e8b\u3067\u4f7f\u7528\u3059\u308bpkg\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9<\/h5>\n<p><a href=\"https:\/\/github.com\/TechShare-inc\/faq_go2_xt16.git\">\u672c\u8a18\u4e8b\u3067\u4f7f\u7528\u3059\u308b\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u307e\u3068\u3081\u305f\u3082\u306e<\/a>\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\/TechShare-inc\/faq_go2_xt16.git<\/code><\/pre>\n<\/div>\n<p>\u4f7f\u7528\u3059\u308b\u3082\u306e\u306f\u3001<\/p>\n<ul>\n<li>unitree ros2 : go2\u3092ROS2\u3067\u6271\u3046\u305f\u3081<\/li>\n<li>imu_publisher : go2\u306b\u642d\u8f09\u3055\u308c\u305fimu\u306e\u60c5\u5831\u3092publish\u3059\u308b\u3082\u306e\u3002\u5f0a\u793e\u4f5c\u6210<\/li>\n<li>Hesai LiDAR SDK : xt16\u3092\u4f7f\u3046\u305f\u3081\u306eSDK\u3002\u5f0a\u793e\u3067\u304b\u306a\u308a\u624b\u3092\u52a0\u3048\u305f\u3082\u306e\u3002timestamp\u3084\u30d5\u30a9\u30fc\u30de\u30c3\u30c8\u306e\u95a2\u4fc2\u4e0a\u516c\u5f0f\u306eSDK\u3092\u305d\u306e\u307e\u307e\u3067\u4f7f\u7528\u3067\u304d\u306a\u3044\u305f\u3081\u3001\u4fee\u6b63\u3057\u3066\u3044\u308b<\/li>\n<li>dlio : \u4eca\u56de\u4f7f\u7528\u3059\u308bSLAM\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3002\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u306eROS2\u30d6\u30e9\u30f3\u30c1\u3092\u4f7f\u7528\u3002\u4eca\u56de\u306b\u8a18\u4e8b\u7528\u306btopic\u540d\u306a\u3069\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u30fc\u3092\u4fee\u6b63\u3057\u3066\u3044\u308b<\/li>\n<\/ul>\n<div class=\"hcb_wrap\">\n<pre><code>$ cd humble_ws\/src\r\n$ git clone https:\/\/github.com\/TechShare-inc\/go2_unitree_ros2.git -b imu_publisher\r\n$ git clone https:\/\/github.com\/TechShare-inc\/HesaiLidar_ROS2_techshare.git\r\n$ git clone https:\/\/github.com\/unitreerobotics\/unitree_ros2.git\r\n$ git clone https:\/\/github.com\/TechShare-inc\/direct_lidar_inertial_odometry.git<\/code><\/pre>\n<\/div>\n<p>\u5f0a\u793e\u3067\u5b9f\u6a5f\u3067\u884c\u3063\u305f\u6642\u306e\u69d8\u5b50\uff1a<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/06\/faq_go2_xt16_2-2.png\" alt=\"\" width=\"100%\" \/><\/p>\n<h5>2-3. docker\u30a4\u30e1\u30fc\u30b8\u306e\u4f5c\u6210<\/h5>\n<p>\u672c\u8a18\u4e8b\u306fros2 humble\u74b0\u5883\u3067\u5b9f\u88c5\u3059\u308b\u305f\u3081\u3001docker\u30a4\u30e1\u30fc\u30b8\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ cd docker\r\n$ docker build -t go2-humble:latest .<\/code><\/pre>\n<\/div>\n<p>\u203b\u304b\u306a\u308a\u6642\u9593\u304c\u304b\u304b\u308a\u307e\u3059<\/p>\n<p>\u306a\u304a\u3001docker\u306f\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u306f\u5165\u3063\u3066\u3044\u306a\u3044\u305f\u3081\u3001\u4f8b\u3048\u3070\u4e0b\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3067docker\u3092\u5165\u308c\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ sudo apt-get update\r\n$ sudo apt-get install apt-transport-https ca-certificates curl software-properties-common\r\n$ curl -fsSL https:\/\/download.docker.com\/linux\/ubuntu\/gpg | sudo gpg --dearmor -o \/usr\/share\/keyrings\/docker-archive-keyring.gpg\r\n$ echo \"deb [arch=$(dpkg --print-architecture) signed-by=\/usr\/share\/keyrings\/docker-archive-keyring.gpg] https:\/\/download.docker.com\/linux\/ubuntu $(lsb_release -cs) stable\" | sudo tee \/etc\/apt\/sources.list.d\/docker.list > \/dev\/null\r\n$ sudo apt-get update\r\n$ sudo apt-get install docker-ce docker-ce-cli containerd.io\r\n$ sudo usermod -aG docker $USER\r\n$ newgrp docker\r\n$ distribution=$(. \/etc\/os-release;echo $ID$VERSION_ID) \\\r\n    && curl -s -L https:\/\/nvidia.github.io\/nvidia-docker\/gpgkey | sudo apt-key add - \\\r\n    && curl -s -L https:\/\/nvidia.github.io\/nvidia-docker\/$distribution\/nvidia-docker.list | sudo tee \/etc\/apt\/sources.list.d\/nvidia-docker.list\r\n$ 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>\u5f0a\u793e\u3067\u5b9f\u6a5f\u3067\u884c\u3063\u305f\u6642\u306e\u69d8\u5b50\uff1a<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/06\/faq_go2_xt16_2-3.png\" alt=\"\" width=\"60%\" \/><br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/06\/faq_go2_xt16_2-3_finish.png\" alt=\"\" width=\"60%\" \/><\/p>\n<h5>2-4. docker\u30b3\u30f3\u30c6\u30ca\u306e\u4f5c\u6210<\/h5>\n<div class=\"hcb_wrap\">\n<pre><code>$ cd humble_ws\r\n$ bash ..\/docker\/humble.sh<\/code><\/pre>\n<\/div>\n<p>\u3053\u308c\u3067docker\u30b3\u30f3\u30c6\u30ca\u304c\u4f5c\u6210\u3055\u308c\u307e\u3059\u3002<\/p>\n<p>\u3053\u3053\u3067\u3082\u3057\u3001\u300cnvidia\u304cunknown\u300d\u3068\u30a8\u30e9\u30fc\u304c\u51fa\u308b\u5834\u5408\u306f\u30012-3\u7bc0\u306edocker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\uff08\u30a4\u30e1\u30fc\u30b8\u306ebuild\u306f\u3082\u3046\u4e00\u5ea6\u3084\u308b\u5fc5\u8981\u306f\u3042\u308a\u307e\u305b\u3093\uff09<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/06\/faq_go2_xt16_2-4.png\" alt=\"\" width=\"60%\" \/><\/p>\n<h5>2-5. \u30b3\u30f3\u30d1\u30a4\u30eb<\/h5>\n<p>\u524d\u9805\u3067\u30b3\u30f3\u30c6\u30ca\u3092\u4f5c\u6210\u3057\u3001\u30b3\u30f3\u30c6\u30ca\u306e\u4e2d\u306b\u3044\u308b\u72b6\u614b\u3067\u3001\u4e0b\u8a18\u306e\u3088\u3046\u306b\u30b3\u30f3\u30d1\u30a4\u30eb\u3057\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code># cd \/external\r\n# colcon build --symlink-install<\/code><\/pre>\n<\/div>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/06\/faq_go2_xt16_2-5.png\" alt=\"\" width=\"60%\" \/><\/p>\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\u4e0b\u8a18\u306e\u3088\u3046\u306b\u3001unitree_ros2\/setup.sh\u3092\u4fee\u6b63\u3057\u307e\u3059\u3002<\/p>\n<p>\u672c\u8a18\u4e8b\u3067\u306f\u3001rviz\u3092\u7121\u7dda\u63a5\u7d9a\u3055\u308c\u305f\u5916\u90e8PC\u3067\u5b9f\u884c\u3059\u308b\u306e\u3067\u3001\u7121\u7dda\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30a4\u30b9wlan0\u3082\u542b\u3081\u3066\u6307\u5b9a\u3057\u3066\u3044\u307e\u3059\u3002<br \/>\n\u3053\u3046\u3059\u308b\u3053\u3068\u3067DockingStation\u304b\u3089\u914d\u4fe1\u3055\u308c\u308btopic\u306fwlan0\u3068\u540c\u3058\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u4e0a\u306e\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u30fc\u306b\u3082\u914d\u4fe1\u3055\u308c\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>#!\/bin\/bash\r\necho \"Setup unitree ros2 environment\"\r\n#source \/opt\/ros\/foxy\/setup.bash\r\nsource unitree_ros2\/cyclonedds_ws\/install\/setup.bash\r\nexport RMW_IMPLEMENTATION=rmw_cyclonedds_cpp\r\nexport CYCLONEDDS_URI='&lt;CycloneDDS&gt;&lt;Domain&gt;&lt;General&gt;&lt;Interfaces&gt;\r\n                            &lt;NetworkInterface name=\"eth0\" priority=\"1\" multicast=\"default\" \/&gt;\r\n                            &lt;NetworkInterface name=\"wlan0\" priority=\"2\" multicast=\"default\" \/&gt;\r\n                       &lt;\/Interfaces&gt;&lt;\/General&gt;&lt;\/Domain&gt;&lt;\/CycloneDDS&gt;'<\/code><\/pre>\n<\/div>\n<p><img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/06\/faq_go2_xt16_2-6.png\" alt=\"\" width=\"100%\" \/><\/p>\n<p>&nbsp;<\/p>\n<h3>\uff13\uff0e\u5b9f\u884c<\/h3>\n<hr \/>\n<h5>3-1. D-LIO\u306e\u5b9f\u884c<\/h5>\n<p>\u4e0b\u8a18\u306e\u3088\u3046\u306b\u884c\u3046\u3053\u3068\u3067\u3001\u5b9f\u884c\u3067\u304d\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code># cd \/external\/src\r\n# catmux_create_session test_catmux.yaml <\/code><\/pre>\n<\/div>\n<p>\u6b63\u3057\u304f\u5b9f\u884c\u3067\u304d\u3066\u3044\u308c\u3070\u4e0b\u8a18\u306e\u3088\u3046\u306a\u753b\u9762\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<p>imu_publisher<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/06\/faq_go2_xt16_3-1-1.png\" alt=\"\" width=\"60%\" \/><\/p>\n<p>HesaiLiDARSDK<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/06\/faq_go2_xt16_3-1-2.png\" alt=\"\" width=\"60%\" \/><\/p>\n<p>dlio<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/06\/faq_go2_xt16_3-1-3.png\" alt=\"\" width=\"60%\" \/><\/p>\n<p>&nbsp;<\/p>\n<h5>3-2. \u53ef\u8996\u5316<\/h5>\n<p>Docking Station(Orin NX)\u4e0a\u3067\u63cf\u753b\u3059\u308b\u3068\u3001\u304b\u306a\u308a\u30e1\u30e2\u30ea\u304c\u4f7f\u308f\u308c\u3066\u3057\u307e\u3046\u305f\u3081\u3001\u5916\u90e8PC\u3067\u63cf\u5199\u3092\u884c\u3044\u307e\u3059\u3002<\/p>\n<p>\u5916\u90e8PC\u3092\u540c\u3058\u7121\u7dda\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u306b\u63a5\u7d9a\u3057\u3001\u5916\u90e8PC\u3067\u4e0b\u8a18\u306e\u3088\u3046\u306asetup\u3092\u884c\u3046\u3068\u3001Docking Station(Orin NX)\u3067\u914d\u4fe1\u3055\u308c\u3066\u3044\u308b\u30c8\u30d4\u30c3\u30af\u3092\u898b\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\uff08\u74b0\u5883\u306b\u3088\u3063\u3066\u306fwlan0\u3067\u306f\u306a\u3044\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\uff09<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>#!\/bin\/bash\r\necho \"Setup unitree ros2 environment\"\r\n#source \/opt\/ros\/foxy\/setup.bash\r\nsource $HOME\/unitree_ros2\/cyclonedds_ws\/install\/setup.bash\r\nexport RMW_IMPLEMENTATION=rmw_cyclonedds_cpp\r\nexport CYCLONEDDS_URI='&lt;CycloneDDS&gt;&lt;Domain&gt;&lt;General&gt;&lt;Interfaces&gt;\r\n                            &lt;NetworkInterface name=\"wlan0\" priority=\"default\" multicast=\"default\" \/&gt;\r\n                       &lt;\/Interfaces&gt;&lt;\/General&gt;&lt;\/Domain&gt;&lt;\/CycloneDDS&gt;'<\/code><\/pre>\n<\/div>\n<p>dlio pkg\u306b\u3042\u308bdlio.rviz\u3092\u5916\u90e8PC\u306b\u30b3\u30d4\u30fc\u3057\u3066\u304a\u304d\u307e\u3059\u3002<br \/>\n\u305d\u306e\u5f8c\u3001\u305d\u306e\u8a2d\u5b9a\u3067Rviz\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>$ rviz2 -d direct_lidar_inertial_odometry\/launch\/dlio.rviz<\/code><\/pre>\n<p>&nbsp;<\/p>\n<p>\u8d77\u52d5\u76f4\u5f8c\u306eRviz\u306e\u753b\u9762<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/06\/faq_go2_xt16_3-2-2.png\" alt=\"\" width=\"60%\" \/><\/p>\n<p>\u5c11\u3057\u72ac\u3092\u6b69\u304b\u305b\u308b\u3068\u3001\u3046\u307e\u304f\u3044\u3063\u3066\u3044\u308c\u3070\u4e0b\u8a18\u306e\u3088\u3046\u306b\u70b9\u7fa4\u304c\u73fe\u308c\u3001\u3055\u3089\u306b\u6b69\u304b\u305b\u308b\u3068\u8ecc\u8de1\u304c\u8868\u793a\u3055\u308c\u308b\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/06\/faq_go2_xt16_3-2-1.png\" alt=\"\" width=\"60%\" \/><\/p>\n<p>\u3053\u306e\u3088\u3046\u306b\u52d5\u3051\u3070\u6210\u529f\u3067\u3059\u3002<br \/>\n\u306a\u304a\u3001\u4f0f\u305b\u305f\u308a\u7acb\u305f\u305b\u305f\u308a\u3059\u308b\u3068\u81ea\u5df1\u4f4d\u7f6e\u304c\u5439\u3063\u98db\u3073\u3084\u3059\u3044\u306e\u3067\u3001\u7acb\u305f\u305b\u305f\u72b6\u614b\u304b\u3089SLAM\u3092\u3059\u308b\u3053\u3068\u3092\u63a8\u5968\u3057\u307e\u3059\u3002<\/p>\n<p>\u2193\u7d50\u679c\u306e\u52d5\u753b<br \/>\n<a href=\"https:\/\/techshareinc-my.sharepoint.com\/:v:\/g\/personal\/koji_ishikawa_techshare_co_jp\/ERvvtKGvtdZLs8yfQxIun8oBAThPiYNkH1eEktvMg82d-g?nav=eyJyZWZlcnJhbEluZm8iOnsicmVmZXJyYWxBcHAiOiJPbmVEcml2ZUZvckJ1c2luZXNzIiwicmVmZXJyYWxBcHBQbGF0Zm9ybSI6IldlYiIsInJlZmVycmFsTW9kZSI6InZpZXciLCJyZWZlcnJhbFZpZXciOiJNeUZpbGVzTGlua0NvcHkifX0&#038;e=X9PCMz\">\u672c\u8a18\u4e8b\u306e\u30b4\u30fc\u30eb\uff08XT16\u306eSLAM\u8d70\u884c\u306e\u52d5\u753b\uff09<\/a><\/p>\n<p>&nbsp;<\/p>\n<h3>\u304a\u308f\u308a\u306b<\/h3>\n<p>\u672c\u8a18\u4e8b\u3067\u306fGo2\u5185\u8535\u306eIMU\u3068XT16\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\u3001Unitree Go2 XT16\u7248\u3092\u7528\u3044\u305fSLAM\u306e\u65b9\u6cd5\u3092\u6848\u5185\u3057\u307e\u3059\u3002 SLAM\u306e\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306b\u306f\u3044\u308d\u3044\u308d\u306a\u7a2e\u985e\u304c\u3042\u308a\u307e\u3059\u304c\u3001\u4eca\u56de\u306fD-LIO\u3068\u3044\u3046\u3082\u306e\u3092\u4f7f\u3063\u3066\u3044\u304d\u307e\u3059\u3002 \ud83d\udcd8 XT16 \u5229\u7528\u30ac\u30a4\u30c9\u30fb\u30b7 &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-345881","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\/345881","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=345881"}],"version-history":[{"count":25,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345881\/revisions"}],"predecessor-version":[{"id":347301,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345881\/revisions\/347301"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=345881"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=345881"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=345881"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}