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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
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commit 9dab37e8c8
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107
unitree_slam/config/pl_mapping/mid360.yaml Executable file
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G1:
imu_topic: "rt/utlidar/imu_livox_mid360" #/livox/imu rt/utlidar/imu_livox_mid360
lidar_topic: "rt/utlidar/cloud_livox_mid360"
imu_acc_multi: 10.0 #10.0
imu_gyro_multi: 1.0
filter_num: 8 #8
lidar_scan_min_range: 0.25
lidar_scan_max_range: 30.0
map_frame: "map"
body_frame: "livox_frame"
pub_point_topic: "rt/unitree/slam_mapping/points"
pub_odom_topic: "rt/unitree/slam_mapping/odom"
imu_init_num: 100
vel_cov: 20.0
acc_cov: 50000.0
gyro_cov: 1000.0
b_acc_cov: 0.0001
b_gyro_cov: 0.0001
lidar_meas_cov_inv: 100.0
imu_meas_acc_cov_inv: 1.0
imu_meas_gyro_cov_inv: 10.0
satu_acc: 20.0
satu_gyro: 35.0
scan_resolution: 0.3 #0.3
map_resolution: 0.3
near_search_num: 5.0
move_thresh: 1.5
det_range: 60.0
cube_len: 300.0
pose_imu_lidar: [1.0, 0.0, 0.0, 0.0, -0.011, -0.02329, 0.04412]
save_pcd: true
save_pcd_res: 0.15
dist_sq_threshold: 2.0
plane_threshold: 0.1
ground_ang: 75.0 # degree
Go2:
imu_topic: "rt/unitree/slam_lidar/imu" #/livox/imu rt/utlidar/imu_livox_mid360
lidar_topic: "rt/unitree/slam_lidar/points"
imu_acc_multi: 10.0 #10.0
imu_gyro_multi: 1.0
filter_num: 25 #8
lidar_scan_min_range: 0.25
lidar_scan_max_range: 30.0
map_frame: "map"
body_frame: "livox_frame"
pub_point_topic: "rt/unitree/slam_mapping/points"
pub_odom_topic: "rt/unitree/slam_mapping/odom"
imu_init_num: 100
vel_cov: 20.0
acc_cov: 50000.0
gyro_cov: 1000.0
b_acc_cov: 0.0001
b_gyro_cov: 0.0001
lidar_meas_cov_inv: 100.0
imu_meas_acc_cov_inv: 1.0
imu_meas_gyro_cov_inv: 10.0
satu_acc: 20.0
satu_gyro: 35.0
scan_resolution: 0.3 #0.3
map_resolution: 0.3
near_search_num: 5.0
move_thresh: 1.5
det_range: 60.0
cube_len: 300.0
pose_imu_lidar: [1.0, 0.0, 0.0, 0.0, -0.011, -0.02329, 0.04412]
save_pcd: true
save_pcd_res: 0.15
dist_sq_threshold: 2.0
plane_threshold: 0.1
ground_ang: 75.0 # degree
Go2_W:
imu_topic: "rt/unitree/slam_lidar/imu" #/livox/imu rt/utlidar/imu_livox_mid360
lidar_topic: "rt/unitree/slam_lidar/points"
imu_acc_multi: 10.0 #10.0
imu_gyro_multi: 1.0
filter_num: 25 #8
lidar_scan_min_range: 0.25
lidar_scan_max_range: 30.0
map_frame: "map"
body_frame: "livox_frame"
pub_point_topic: "rt/unitree/slam_mapping/points"
pub_odom_topic: "rt/unitree/slam_mapping/odom"
imu_init_num: 100
vel_cov: 20.0
acc_cov: 50000.0
gyro_cov: 1000.0
b_acc_cov: 0.0001
b_gyro_cov: 0.0001
lidar_meas_cov_inv: 100.0
imu_meas_acc_cov_inv: 1.0
imu_meas_gyro_cov_inv: 10.0
satu_acc: 20.0
satu_gyro: 35.0
scan_resolution: 0.3 #0.3
map_resolution: 0.3
near_search_num: 5.0
move_thresh: 1.5
det_range: 60.0
cube_len: 300.0
pose_imu_lidar: [1.0, 0.0, 0.0, 0.0, -0.011, -0.02329, 0.04412]
save_pcd: true
save_pcd_res: 0.15
dist_sq_threshold: 2.0
plane_threshold: 0.1
ground_ang: 75.0 # degree

107
unitree_slam/config/pl_mapping/xt16.yaml Executable file
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G1:
imu_topic: "rt/dog_imu_raw" #/livox/imu rt/utlidar/imu_livox_mid360
lidar_topic: "rt/rslidar_points"
imu_acc_multi: 1.0 #10.0
imu_gyro_multi: 1.0
filter_num: 4 #8
lidar_scan_min_range: 0.25
lidar_scan_max_range: 20.0
map_frame: "map"
body_frame: "rslidar"
pub_point_topic: "rt/unitree/slam_mapping/points"
pub_odom_topic: "rt/unitree/slam_mapping/odom"
imu_init_num: 100
vel_cov: 20.0
acc_cov: 500.0
gyro_cov: 1000.0
b_acc_cov: 0.0001
b_gyro_cov: 0.0001
lidar_meas_cov_inv: 100.0
imu_meas_acc_cov_inv: 10.0
imu_meas_gyro_cov_inv: 10.0
satu_acc: 20.0
satu_gyro: 35.0
scan_resolution: 0.4 #0.3
map_resolution: 0.4
near_search_num: 5.0
move_thresh: 1.5
det_range: 60.0
cube_len: 300.0
pose_imu_lidar: [0.707, 0.0, 0.0, 0.707, 0.1710, 0, 0.0908]
save_pcd: true
save_pcd_res: 0.15
dist_sq_threshold: 2.0
plane_threshold: 0.1
ground_ang: 75.0 # degree
Go2:
imu_topic: "rt/dog_imu_raw" #/livox/imu rt/utlidar/imu_livox_mid360
lidar_topic: "rt/unitree/slam_lidar/points"
imu_acc_multi: 1.0 #10.0
imu_gyro_multi: 1.0
filter_num: 35 #8
lidar_scan_min_range: 0.25
lidar_scan_max_range: 20.0
map_frame: "map"
body_frame: "rslidar"
pub_point_topic: "rt/unitree/slam_mapping/points"
pub_odom_topic: "rt/unitree/slam_mapping/odom"
imu_init_num: 100
vel_cov: 20.0
acc_cov: 500.0
gyro_cov: 1000.0
b_acc_cov: 0.0001
b_gyro_cov: 0.0001
lidar_meas_cov_inv: 100.0
imu_meas_acc_cov_inv: 0.5
imu_meas_gyro_cov_inv: 0.5
satu_acc: 20.0
satu_gyro: 35.0
scan_resolution: 0.4 #0.3
map_resolution: 0.4
near_search_num: 5.0
move_thresh: 1.5
det_range: 60.0
cube_len: 300.0
pose_imu_lidar: [0.707, 0.0, 0.0, 0.707, 0.1710, 0.0, 0.0908]
save_pcd: true
save_pcd_res: 0.15
dist_sq_threshold: 2.0
plane_threshold: 0.1
ground_ang: 75.0 # degree
Go2_W:
imu_topic: "rt/dog_imu_raw" #/livox/imu rt/utlidar/imu_livox_mid360
lidar_topic: "rt/unitree/slam_lidar/points"
imu_acc_multi: 1.0 #10.0
imu_gyro_multi: 1.0
filter_num: 35 #8
lidar_scan_min_range: 0.25
lidar_scan_max_range: 20.0
map_frame: "map"
body_frame: "rslidar"
pub_point_topic: "rt/unitree/slam_mapping/points"
pub_odom_topic: "rt/unitree/slam_mapping/odom"
imu_init_num: 100
vel_cov: 20.0
acc_cov: 500.0
gyro_cov: 1000.0
b_acc_cov: 0.0001
b_gyro_cov: 0.0001
lidar_meas_cov_inv: 100.0
imu_meas_acc_cov_inv: 0.5
imu_meas_gyro_cov_inv: 0.5
satu_acc: 20.0
satu_gyro: 35.0
scan_resolution: 0.4 #0.3
map_resolution: 0.4
near_search_num: 5.0
move_thresh: 1.5
det_range: 60.0
cube_len: 300.0
pose_imu_lidar: [0.707, 0.0, 0.0, 0.707, 0.1710, 0.0, 0.0908]
save_pcd: true
save_pcd_res: 0.15
dist_sq_threshold: 2.0
plane_threshold: 0.1
ground_ang: 75.0 # degree