克隆/下载
贡献代码
同步代码
hide-Canada-a hide 宇树雷达 f5aa5d5 11个月前
取消
提示: 由于 Git 不支持空文件夾,创建文件夹后会生成空的 .keep 文件
Loading...
README
BSD-3-Clause

Unilidar SDK

Introduction

This repository is a SDK for Unitree L1 LiDAR.

You can use the code interfaces in this repository to obtain point cloud data and IMU data measured in our lidar, as well as configure related parameters.

We provide three commonly used interfaces for our LiDAR:

  • if you prefer to use the original C++ SDK directly, you can refer to README.md;
  • if you want to use ROS, you can refer to README.md;
  • if you are developing with the latest ROS2, you can refer to README.md.

Coordinate System Definition

The reference frame definition is illustrated in the following figure, which satisfies the right-hand coordinate system definition.

The origin of the lidar frame, which is used to represent coordinates of each point in a pointcloud, is located at the center of the bottom mounting surface of the lidar.

  • Its +X axis is in the opposite direction of the outgoing cable.
  • Its +Y axis is in the the direction obtained by rotating the +X axis counterclockwise by 90 degrees.
  • And its +Z axis is vertically upward.

The IMU frame's axes are aligned and parallel to the directions of the point cloud coordinate system. The XYZ coordinates of its origin in the lidar frame is [-0.007698, -0.014655, 0.00667] in meters.

You can also go to our official website for further technical details of our lidar.

BSD 3-Clause License Copyright (c) 2016-2023 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics") All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

简介

暂无描述 展开 收起
Shell
BSD-3-Clause
取消

发行版

暂无发行版

贡献者

全部

近期动态

不能加载更多了
马建仓 AI 助手
尝试更多
代码解读
代码找茬
代码优化