[Unitree Go1] Changing Position of LiDAR sensor

Sensors
1

Hey @Sohail,

I have changed the position of Hellious 16P LiDAR in Go1, and now I would like to change in it the urdf file too, but I am not sure how to do. I tried to manually change in go1_description/urdf/go1_with_LIDAR.urdf the xyz in but as soon as I sourced it my robot eventually lost its connection with all the legs and it wasn’t eevn able to stand up, later I restarted it and reverted the changes in file and its ok now. But I actually want to change the position of robosense and robosense_joint (platform on which lidar is mounted) and move it a bit forward. Can you please help me?

Regards

2

Dear @Ravin,

The robot should not shutdown in any event due to a change in the URDF. I would suggest use the bringup to first check it locally then upload to the robot with the final changes. The only thing that needs to change is the joints position.

3

Hey @Sohail,

ok, I will try changing the joint position. I thought there were stl files and all so we have an automatic was like solidworks or something. Using which I can change the position and it will auto generate the file.