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feat: 初始化 Go2 导航代码与配置

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龙正扬应用学生后端
2026-10-14 11:08:44 +08:00
parent 8e16ecceba
commit 9dab37e8c8
1258 changed files with 1936673 additions and 0 deletions
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unitree_slam/bin/logs/slam_server/20260913-102632.397560 Executable file
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[2026-09-13 10:58:02.064] [INFO] lidar_type = mid360
[2026-09-13 10:58:04.363] [INFO] Init success.
[2026-09-13 10:59:19.298] [INFO] Received request. apiId:1801 fun:start mapping (PL). parameter:{"data": {"slam_type": "indoor"}}
[2026-09-13 10:59:19.298] [INFO] To pl mapping request: {"data": {"slam_type": "indoor"}}
[2026-09-13 10:59:19.335] [INFO] lidar_type = mid360
[2026-09-13 10:59:19.368] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Successfully started mapping.","data":{}}
[2026-09-13 10:59:38.701] [INFO] Received request. apiId:1901 fun:stop node. parameter:{"data": {}}
[2026-09-13 10:59:38.702] [INFO] Thread is still running...
[2026-09-13 11:00:30.749] [INFO] Received request. apiId:1801 fun:start mapping (PL). parameter:{"data": {"slam_type": "indoor"}}
[2026-09-13 11:00:30.749] [INFO] To pl mapping request: {"data": {"slam_type": "indoor"}}
[2026-09-13 11:00:30.769] [INFO] Thread is already completed.
[2026-09-13 11:00:30.770] [INFO] lidar_type = mid360
[2026-09-13 11:00:30.792] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Successfully started mapping.","data":{}}
[2026-09-13 11:00:36.727] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:00:36.727] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:00:36.729] [INFO] Thread is still running...
[2026-09-13 11:00:36.744] [INFO] lidar_type = mid360
[2026-09-13 11:00:36.771] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Save pcd successfully.","data":{}}

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[2026-09-13 11:50:01.062] [INFO] lidar_type = mid360
[2026-09-13 11:53:28.442] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:83.0357 cpuTemp:62.9372 cpuMemory:32.7475 cpuFrequency:1510.4

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20260913-114956.714669