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Unitree Lidar ROS2

Introduction

This package is a ROS2 package, which is specially used for running Unitree LiDAR products.

The functions that this package can provide includes:

  • Parse the raw data transmitted from the lidar hardware, and convert it into pointcloud and IMU data
  • Publish the pointcloud data to a ROS2 topic
  • Publish the IMU data to a ROS2 topic
  • In addition, you can configure the relevant parameters of the lidar in the launch.py.

Dependency

The dependencies include PCL and ROS2.

We have verified that this package can successfully run under this environment:

  • Ubuntu 20.04
  • ROS2 foxy
  • PCL-1.10
  • unitree_lidar_sdk

You are suggested to configure an environment like this to run this package.

Configuration

Connect your lidar to your computer with a USB cable, then confirm your serial port name for lidar:

$ ls /dev/ttyUSB*
/dev/ttyUSB0

The default serial port name is /dev/ttyUSB0. If it is not the default one, you need to modify the configuration in unitree_lidar_ros2/launch/launch.py and change the port parameter to yours. For example

{'port': '/dev/ttyUSB0'},

You can leave other parameters in the configuration file with their default value.

If you have special needs such as changing the cloud topic name or IMU topic name, you are allowed to configure them in the launch.py file as well.

The defalut cloud topic and its frame name is:

  • topic: "unilidar/cloud"
  • frame: "unilidar_lidar"

The defalut IMU topic and its frame name is:

  • topic: "unilidar/imu"
  • frame: "unilidar_imu"

Build

You can just build this ROS2 package as follows:

  • Download
git clone https://github.com/unitreerobotics/unilidar_sdk.git
  • Compile
cd unilidar_sdk/unitree_lidar_ros2

colcon build

Run

Then you need to source this ROS packege environment and then directly run the launch.py file:

source install/setup.bash

ros2 launch unitree_lidar_ros2 launch.py

To visualize our cloud in Rviz2, you need to run:

rviz2 -d src/unitree_lidar_ros2/rviz/view.rviz

In the Rviz window, you will see our lidar pointcloud like this:

img

You can change the Fixed Frame to the imu frame unilidar_imu, so that you can view the IMU quaternion vector.