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point_lio_unilidar package from autonomy_stack_go2 repo

local_planner sensor_scan_generation terrain_analysis terrain_analysis_ext vehicle_simulator visualization_tools waypoint_example boundary_handler far_planner graph_decoder visibility_graph_msg point_lio_unilidar ros_tcp_endpoint calibrate_imu goalpoint_rviz_plugin teleop_rviz_plugin teleop_rviz_plugin_plus transform_sensors go2_h264_repub go2_sport_api unitree_api unitree_go waypoint_rviz_plugin

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Package Summary

Tags	No category tags.
Version	0.0.0
License	BSD
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Full Autonomy Stack for Unitree Go2
Checkout URI	https://github.com/jizhang-cmu/autonomy_stack_go2.git
VCS Type	git
VCS Version	foxy-humble
Last Updated	2025-04-01
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

This is a modified version of LOAM which is original algorithm is described in the following paper: J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time. Robotics: Science and Systems Conference (RSS). Berkeley, CA, July 2014.

Additional Links

No additional links.

Maintainers

Lingbo Meng

Authors

Lingbo Meng

src/slam/point_lio_unilidar/README.md

point_lio_unilidar

Introduction

This repository adapts the state-of-the-art lidar inertial odometry algorithm, Point-LIO, for use with our lidar, Unitree Lidar L1.

Unitree Lidar L1 is a low-cost large-FOV 3D lidar, which possesses these features:

large field of view (360° × 90°)
non-repetitive scanning
low cost (only $349)
suitable for applications in low-speed mobile robots

If you want to learn more about our lidar, you can refer to the official website for details.

https://m.unitree.com/en/LiDAR/

Point-LIO is a robust and high-bandwidth lidar inertial odometry (LIO) with the capability to provide accurate, high-frequency odometry and reliable mapping under severe vibrations and aggressive motions. If you need further information about the Point-LIO algorithm, you can refer to their official website and paper:

demo

Video Demo

Prerequisites

Ubuntu and ROS

We tested our code on Ubuntu20.04 with ROS noetic. Ubuntu18.04 and lower versions have problems of environments to support the Point-LIO, try to avoid using Point-LIO in those systems.

You can refer to the official website to install ROS noetic:

http://wiki.ros.org/noetic/Installation/Ubuntu

Additional ROS package is required:

sudo apt-get install ros-xxx-pcl-conversions

Eigen

Following the official Eigen installation, or directly install Eigen by:

sudo apt-get install libeigen3-dev

unitree_lidar_ros

You should download and build unitree_lidar_ros follwing these steps:

git clone https://github.com/unitreerobotics/unilidar_sdk.git

cd unilidar_sdk/unitree_lidar_ros

catkin_make

Build

Clone this repository and run catkin_make:

mkdir -p catkin_point_lio_unilidar/src

cd catkin_point_lio_unilidar/src

git clone https://github.com/unitreerobotics/point_lio_unilidar.git

cd ..

catkin_make

Run

Run with Unilidar

Firstly, you should connect our lidar to your PC serial port, and supply power for the lidar with a 12V charger.

Besides, to ensure proper initialization of the IMU, it is advisable to keep the lidar in a stationary state during the initial few seconds of algorithm execution.

Run unilidar:

cd unilidar_sdk/unitree_lidar_ros

source devel/setup.bash

roslaunch unitree_lidar_ros run_without_rviz.launch

Run Point-LIO:

``` cd catkin_unilidar_point_lio

source devel/setup.bash

roslaunch point_lio_unilidar mapping_unilidar.launch

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	sensor_msgs
	message_generation
	message_runtime
	ament_cmake
	ament_cmake_python
	transform_sensors
	ament_lint_auto
	ament_lint_common
	geometry_msgs
	nav_msgs
	rclcpp
	rclpy
	std_msgs
	tf2
	pcl_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/gdb_debug_example.launch
- - rviz [default: true]
launch/mapping_avia.launch
- - rviz [default: true]
launch/mapping_horizon.launch
- - rviz [default: true]
launch/mapping_ouster64.launch
- - rviz [default: true]
launch/mapping_unilidar.launch
- - rviz [default: true]
launch/mapping_utlidar.launch
- - rviz [default: true]
launch/mapping_velody16.launch
- - rviz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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