Introduction

A simple example to make Go1 able to navigation using lidar L1 as sensor

ros package in the workspace

• go1_navigation: ros params and launch file for move_base
• point_lio_unilidar: L1 lidar adapts with pointlio for 3d mapping
• unitree_lidar_ros: lidar sdk for ros
• unitree_ros_to_real: GO1 control sdk for ros

Reference

GO1 ros sdk: https://github.com/unitreerobotics/unitree_ros_to_real

L1 lidar adapts with pointlio: https://github.com/unitreerobotics/point_lio_unilidar

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:

• https://github.com/hku-mars/Point-LIO
• Point‐LIO: Robust High‐Bandwidth Light Detection and Ranging Inertial Odometry

Environment

This package was tested in Ubuntu 20.04 and ROS noetic environment

GO1 with L1 lidar

Build

clone this repositories as a ros catkin workspace

git clone https://github.com/DedSecer/go1_navigation

update submodule

cd go1_navigation
git submodule update --init --recursive

install depences

Make sure you have rosdep installed and initialize. If you're having network issues, try to use rosdepc.

rosdep install --from-paths src --ignore-src -r -y 

compile

catkin_make

Run

source devel/setup.bash
roslaunch point_lio_unilidar mapping_move_base.launch

It will open a rviz visualization window that you can send navigation goal

or start by a forward and back demo

source devel/setup.bash
roslaunch point_lio_unilidar forward_and_back.launch

it will let GO1 walk a distance and back to the start

you can change the distance by modify the rosparam in the launch file(default: 1)