LiDAR availability on Unitree R1

Sensors
1

Hello,

We would like to use the R1 for autonomous navigation and localization.

Could you please clarify whether LiDAR is installed on our R1 or available as an optional sensor?

We currently do not receive any response from 192.168.123.120.

If LiDAR is supported, could you please provide information about:

  • supported LiDAR hardware
  • network/IP configuration
  • SDK/DDS interface
  • point-cloud data access
  • recommended localization/navigation software
2

Hi,

Please check the unitree docs. Lidar is not in unitree R1 version, but you can attach it sperately build a part for support via 3D printer.

You can find the sdk here: 宇树科技 文档中心

You can also use VSLAM as it has binocular cameras. We have worked with VSLAM using stereo cameras and is quite stable.

3

Hi!

I am working with a Unitree R1 EDU. On the Jetson, we are only receiving a single camera feed (1280×720) via /frontvideostream and the video hub (API 1001). You recommend using stereo VSLAM with the binocular camera; how can we access both camera feeds (left and right), or a depth map, on the development computer? Is there a different topic, a different API, or a firmware setting for this?