{"id":346676,"date":"2025-02-03T10:47:52","date_gmt":"2025-02-03T01:47:52","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=346676"},"modified":"2025-02-03T10:47:52","modified_gmt":"2025-02-03T01:47:52","slug":"go2_lidar_data","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/uncategorized\/go2_lidar_data.html","title":{"rendered":"GO2W\u306b\u642d\u8f09\u3055\u308c\u3066\u3044\u308bLiDAR\u304b\u3089\u30c7\u30fc\u30bf\u3092\u898b\u3066\u307f\u308b"},"content":{"rendered":"

\u306f\u3058\u3081\u306b<\/h3>\n

GO2-W\u306b\u306fLiDAR\u304c\u642d\u8f09\u3055\u308c\u3066\u3044\u308b\u3082\u306e\u306e\u3001GO2\u3068\u7570\u306a\u308a\u30a2\u30d7\u30ea\u306b\u306f\u53cd\u6620\u304c\u3055\u308c\u307e\u305b\u3093\u3002\u3057\u304b\u3057\u306a\u304c\u3089\u30c7\u30fc\u30bf\u3092\u53d6\u3063\u3066\u3044\u306a\u3044\u308f\u3051\u3067\u306f\u306a\u3044\u305f\u3081\u3001\u3053\u3053\u306b\u78ba\u8a8d\u65b9\u6cd5\u3092\u8a18\u8f09\u3057\u307e\u3059\u3002\u3053\u3061\u3089\u306e\u8a18\u4e8b\u306b\u3042\u308b\u30c7\u30fc\u30bf\u306e\u3068\u308a\u65b9\u306fGO2\u3067\u3082\u540c\u69d8\u306b\u9069\u7528\u3067\u304d\u307e\u3059\u3002\u304a\u5f79\u7acb\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n

GO2-W\u306b\u30a2\u30af\u30bb\u30b9\u3059\u308b<\/h3>\n

 <\/p>\n

1.\u304a\u624b\u6301\u3061\u306e\u30d1\u30bd\u30b3\u30f3\u306eIP\u30a2\u30c9\u30ec\u30b9\u3092<192.168.123.XXX(ex:192.168.123.100)>\u306b\u5909\u66f4\u3059\u308b
\n2.docking station\u3068\u304a\u624b\u6301\u3061\u306e\u30d1\u30bd\u30b3\u30f3\u305d\u308c\u305e\u308c\u306bLAN\u30b1\u30fc\u30d6\u30eb\u3092\u63a5\u7d9a\u3059\u308b
\n3.\u304a\u624b\u6301\u3061\u306e\u30d1\u30bd\u30b3\u30f3\u304b\u3089\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u958b\u304d\u4e0b\u8a18\u30b3\u30de\u30f3\u30c9\u306b\u3066\u758e\u901a\u3092\u78ba\u8a8d\u3059\u308b<\/p>\n

\n
$ ping 192.168.123.18<\/code><\/pre>\n<\/div>\n
\"\"<\/p>\n
4.\u78ba\u8a8d\u5f8c\u3001\u4e0b\u8a18\u30b3\u30de\u30f3\u30c9\u306b\u3066GO2-W\u306edocking station\u306b\u30a2\u30af\u30bb\u30b9\u3059\u308b\u3002\u3053\u306e\u969bROS\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u3092\u805e\u304b\u308c\u308b\u304c\u4eca\u56de\u306ffoxy\u3092\u9078\u629e\u3059\u308b<\/p>\n
\n
$ ssh unitree@192.168.123.18<\/code><\/pre>\n<\/div>\n
\u30d1\u30b9\u30ef\u30fc\u30c9\u306f”123″\u3067\u3059\u3002
\n\"\"<\/p>\n
\n
docking station\u306e\u30c7\u30b9\u30af\u30c8\u30c3\u30d7\u3092no machine\u3067\u8868\u793a\u3059\u308b<\/h3>\n
LiDAR\u306e\u60c5\u5831\u3092\u8aad\u307f\u53d6\u308b\u305f\u3081\u306b\u306frviz\u3068\u3044\u3046\u3082\u306e\u3092\u4f7f\u7528\u3059\u308b\u3068\u4fbf\u5229\u306a\u306e\u3067\u3059\u304c\u3001\u3053\u306e\u305f\u3081\u306b\u30c7\u30b9\u30af\u30c8\u30c3\u30d7\u306eUI\u3092\u8868\u793a\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u305d\u3053\u3067no machine\u3068\u3044\u3046\u5099\u3048\u4ed8\u3051\u306e\u30bd\u30d5\u30c8\u3092\u7528\u3044\u3066\u30ea\u30e2\u30fc\u30c8\u30a2\u30af\u30bb\u30b9\u3057\u307e\u3059\u3002<\/div>\n
<\/div>\n
1.\u4e0b\u8a18\u30b3\u30de\u30f3\u30c9\u3067”nomachine.sh”\u304c\u5b58\u5728\u3059\u308b\u3053\u3068\u3092\u78ba\u8a8d<\/div>\n
\n
$ ls<\/code><\/pre>\n<\/div>\n
2.\u4e0b\u8a18\u30b3\u30de\u30f3\u30c9\u3067no machine\u3067\u30a2\u30af\u30bb\u30b9\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b<\/div>\n
\n
$ .\/nomachine.sh<\/code><\/pre>\n<\/div>\n
3.\u304a\u624b\u6301\u3061\u306e\u30d1\u30bd\u30b3\u30f3\u306eUI\u306b\u623b\u308a\u3001no machine\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u3002\u8a73\u7d30\u306f\u4e0b\u8a18\u30ea\u30f3\u30af\u3092\u53c2\u7167\u304f\u3060\u3055\u3044\u3002<\/div>\n
NoMachine – Download<\/a><\/div>\n
4.\u753b\u9762\u4e0a\u90e8\u306eadd\u3092\u9078\u629e\u3057\u3001Name\u306f\u8b58\u5225\u3057\u3084\u3059\u3044\u3088\u3046\u306b\u4efb\u610f\u306e\u7269\u3092(\u4eca\u56de\u306f”GO2_test”)\u3001\u201dHost\u201d\u306fdocking station\u306eIP\u30a2\u30c9\u30ec\u30b9”192.168.123.18″\u3068\u5165\u529b\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u5165\u529b\u5f8c\u3001\u53f3\u4e0a\u306e”Add”\u3092\u9078\u629e\u3057\u3066\u304f\u3060\u3055\u3044<\/div>\n
\"\"\"\"<\/div>\n
5.\u753b\u9762\u304c\u9077\u79fb\u3057\u307e\u3059\u306e\u3067\u3001\u5148\u307b\u3069\u4f5c\u6210\u3057\u305f\u3082\u306e\u3092\u9078\u629e\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/div>\n
\"\"<\/div>\n
6.”Username”\u306b”unitree”\u3001”Password”\u306b”123″\u3068\u5165\u529b\u3057OK\u3092\u9078\u629e\u3057\u3066\u304f\u3060\u3055\u3044<\/div>\n
\"\"<\/div>\n
rviz\u306b\u3066\u60c5\u5831\u306e\u8868\u793a<\/h3>\n
1.no machine\u306b\u3066\u8868\u793a\u3057\u305fdocking station\u306eUI\u304b\u3089\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u958b\u304f\u3002\u3053\u306e\u969bROS\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u3092\u805e\u304b\u308c\u308b\u304c\u4eca\u56de\u306ffoxy\u3092\u9078\u629e\u3059\u308b<\/p>\n
\"\"<\/p>\n
2.\u4e0b\u8a18\u30b3\u30de\u30f3\u30c9\u306b\u3066topic\u306e\u4e00\u89a7\u3092\u8868\u793a\u3059\u308b<\/p>\n
\n
$ ros2 topic list<\/code><\/pre>\n<\/div>\n
\"\"<\/p>\n
3.\u4e0b\u8a18\u30b3\u30de\u30f3\u30c9\u306b\u3066\u4efb\u610f\u306etopic\u306e\u30c7\u30fc\u30bf\u304c\u51fa\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\u3002\u4eca\u56de\u306fLiDAR\u306e\u60c5\u5831\u3092\u78ba\u8a8d\u3057\u305f\u3044\u305f\u3081\u4f8b\u3068\u3057\u3066”\/utlidar\/cloud”\u3092\u9078\u629e\u3057\u307e\u3059\u304c\u3001\u4efb\u610f\u3067\u5909\u66f4\u3057\u3066\u304f\u3060\u3055\u3044\u3001\u3053\u306e\u6642\u3001\u5927\u91cf\u306b\u30c7\u30fc\u30bf\u304c\u9001\u3089\u308c\u307e\u3059\u306e\u3067\u6b62\u3081\u305f\u3044\u3068\u304d\u306f”ctrl+c”\u3068\u5165\u529b\u3059\u308b\u3053\u3068\u3067\u505c\u6b62\u3067\u304d\u307e\u3059\u3002<\/p>\n
\n
$ ros2 topic echo \/utlidar\/cloud<\/code><\/pre>\n<\/div>\n
\"\"<\/p>\n
4.\u78ba\u8a8d\u5f8c\u4e0b\u8a18\u30b3\u30de\u30f3\u30c9\u306b\u3066rviz\u3092\u8868\u793a\u3057\u307e\u3059\u3002\u305d\u306e\u5f8c\u5de6\u4e0b\u306e”add”\u3092\u9078\u629e\u3057\u3066\u304f\u3060\u3055\u3044<\/p>\n
\n
$ rviz2<\/code><\/pre>\n<\/div>\n
\"\"<\/p>\n
5.\u4e0a\u90e8\u306e\u30bf\u30d6\u306e”by topic”\u3092\u9078\u629e\u3057\u3001”\/utlidar” \u2192”\/cloud”\u2192”Point Cloud2″\u3092\u9078\u629e\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u305d\u306e\u5f8cOK\u3092\u9078\u629e\u3057\u3066\u304f\u3060\u3055\u3044<\/p>\n
\"\"<\/p>\n
6.”Global options”\u306e”Fixed Frame”\u3092”utlidar_lidar”\u3068\u5165\u529b\u3001”Point Cloude2″\u2192”topic”\u3068\u9078\u629e\u3057\u3001”Reliability Plicy”\u3092”System Default”\u306b\u5909\u66f4\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u3053\u308c\u3067\u70b9\u7fa4\u60c5\u5831\u304c\u8868\u793a\u3055\u308c\u308b\u306f\u305a\u3067\u3059\u3002\u5fc5\u8981\u306b\u5fdc\u3058\u3066\u30aa\u30d7\u30b7\u30e7\u30f3\u3092\u9078\u629e\u3057\u3066\u304f\u3060\u3055\u3044<\/p>\n
\"\"<\/p>\n
 <\/p>\n
\u6210\u529f\u4f8b\u304c\u3053\u3061\u3089\u306b\u306a\u308a\u307e\u3059<\/p>\n
\"\"<\/p>\n
\u304a\u308f\u308a\u306b<\/h2>\n
\u4eca\u56de\u306fGO2-W\u306b\u5099\u3048\u4ed8\u3051\u306eLiDAR\u304b\u3089\u60c5\u5831\u3092\u53d6\u5f97\u3057\u3001\u78ba\u8a8d\u3059\u308b\u624b\u9806\u3092\u307f\u3066\u304d\u307e\u3057\u305f\u3002
\n\u4eca\u56de\u4f7f\u7528\u3057\u305f\u65b9\u6cd5\u306fROS2 topic\u3092\u6d3b\u7528\u3059\u308b\u521d\u6b69\u7684\u306a\u65b9\u6cd5\u3067\u3082\u3042\u308a\u307e\u3059\u3002
\n\u3053\u306e\u8a18\u4e8b\u304c\u5c11\u3057\u3067\u3082\u5f79\u306b\u7acb\u3066\u305f\u306e\u306a\u3089\u5e78\u3044\u3067\u3059\u3002<\/span><\/p>\n
 <\/p>\n
 <\/p>\n","protected":false},"excerpt":{"rendered":"
\u306f\u3058\u3081\u306b GO2-W\u306b\u306fLiDAR\u304c\u642d\u8f09\u3055\u308c\u3066\u3044\u308b\u3082\u306e\u306e\u3001GO2\u3068\u7570\u306a\u308a\u30a2\u30d7\u30ea\u306b\u306f\u53cd\u6620\u304c\u3055\u308c\u307e\u305b\u3093\u3002\u3057\u304b\u3057\u306a\u304c\u3089\u30c7\u30fc\u30bf\u3092\u53d6\u3063\u3066\u3044\u306a\u3044\u308f\u3051\u3067\u306f\u306a\u3044\u305f\u3081\u3001\u3053\u3053\u306b\u78ba\u8a8d\u65b9\u6cd5\u3092\u8a18\u8f09\u3057\u307e\u3059\u3002\u3053\u3061\u3089\u306e\u8a18\u4e8b\u306b\u3042\u308b\u30c7\u30fc\u30bf\u306e\u3068\u308a\u65b9\u306fGO2\u3067 …<\/p>\n","protected":false},"author":22,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[72,26,67,51,1],"tags":[],"class_list":["post-346676","post","type-post","status-publish","format-standard","hentry","category-go2","category-unitree","category-l1","category-unitree-tips","category-uncategorized"],"_links":{"self":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/346676","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\/22"}],"replies":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/comments?post=346676"}],"version-history":[{"count":8,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/346676\/revisions"}],"predecessor-version":[{"id":346915,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/346676\/revisions\/346915"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=346676"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=346676"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=346676"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}