[Unitree GO2 EDU] Livox Mid 360 problems with launch file

Marc · December 5, 2025, 10:04am

Hello,

I am using GO2 EDU and tried to run ros2 launch go2_lidars livox_mid360.launch.py according to the instructions in the readme file.

I then received the following logs:

[INFO] [launch]: All log files can be found below /home/unitree/.ros/log/2025-12-03-10-12-04-452106-go2-unit-14082-8224 [INFO] [launch]: Default logging verbosity is set to INFO Task exception was never retrieved future: <Task finished name=‘Task-2’ coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=PackageNotFoundError(“package ‘livox_ros_driver2’ not found, searching: [‘/opt/mybotshop/install/unitree_ros2_example’, ‘/opt/mybotshop/install/unitree_hg’, ‘/opt/mybotshop/install/go2_platform’, ‘/opt/mybotshop/install/go2_control’, ‘/opt/mybotshop/install/unitree_go’, ‘/opt/mybotshop/install/unitree_api’, ‘/opt/mybotshop/install/open_manipulator’, ‘/opt/mybotshop/install/open_manipulator_x_controller’, ‘/opt/mybotshop/install/open_manipulator_x_libs’, ‘/opt/mybotshop/install/robotis_manipulator’, ‘/opt/mybotshop/install/open_manipulator_x_teleop’, ‘/opt/mybotshop/install/open_manipulator_x_description’, ‘/opt/mybotshop/install/open_manipulator_msgs’, ‘/opt/mybotshop/install/odom_to_tf_ros2’, ‘/opt/mybotshop/install/go2_zt30’, ‘/opt/mybotshop/install/go2_webserver’, ‘/opt/mybotshop/install/go2_viz’, ‘/opt/mybotshop/install/go2_navigation’, ‘/opt/mybotshop/install/go2_moveit’, ‘/opt/mybotshop/install/go2_manipulation’, ‘/opt/mybotshop/install/go2_lidars’, ‘/opt/mybotshop/install/go2_joystick’, ‘/opt/mybotshop/install/go2_interface’, ‘/opt/mybotshop/install/go2_host’, ‘/opt/mybotshop/install/go2_gps’, ‘/opt/mybotshop/install/go2_description’, ‘/opt/mybotshop/install/go2_depth_camera’, ‘/opt/mybotshop/install/go2_bringup’, ‘/opt/mybotshop/install/dynamixel_hardware’, ‘/opt/mybotshop/install/domain_bridge’, ‘/opt/mybotshop/install/cmake_modules’, ‘/home/unitree/cyclonedds_ws/install/rmw_cyclonedds_cpp’, ‘/opt/ros/foxy’]”)> Traceback (most recent call last): File “/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py”, line 50, in get_package_prefix content, package_prefix = get_resource(‘packages’, package_name) File “/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/resources.py”, line 48, in get_resource raise LookupError( LookupError: Could not find the resource ‘livox_ros_driver2’ of type ‘packages’ During handling of the above exception, another exception occurred: Traceback (most recent call last): File “/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py”, line 228, in _process_one_event await self.__process_event(next_event) File “/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py”, line 248, in __process_event visit_all_entities_and_collect_futures(entity, self.__context)) File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py”, line 45, in visit_all_entities_and_collect_futures futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context) File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py”, line 45, in visit_all_entities_and_collect_futures futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context) File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py”, line 45, in visit_all_entities_and_collect_futures futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context) [Previous line repeated 1 more time] File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py”, line 38, in visit_all_entities_and_collect_futures sub_entities = entity.visit(context) File “/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py”, line 108, in visit return self.execute(context) File “/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py”, line 453, in execute ret = super().execute(context) File “/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py”, line 823, in execute self.__expand_substitutions(context) File “/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py”, line 668, in __expand_substitutions cmd = [perform_substitutions(context, x) for x in self.__cmd] File “/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py”, line 668, in cmd = [perform_substitutions(context, x) for x in self.__cmd] File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py”, line 26, in perform_substitutions return ‘’.join([context.perform_substitution(sub) for sub in subs]) File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py”, line 26, in return ‘’.join([context.perform_substitution(sub) for sub in subs]) File “/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_context.py”, line 232, in perform_substitution return substitution.perform(self) File “/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/executable_in_package.py”, line 76, in perform package_prefix = super().perform(context) File “/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/find_package.py”, line 79, in perform result = self.find(package) File “/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/find_package.py”, line 96, in find return get_package_prefix(package_name) File “/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py”, line 52, in get_package_prefix raise PackageNotFoundError( ament_index_python.packages.PackageNotFoundError: “package ‘livox_ros_driver2’ not found, searching: [‘/opt/mybotshop/install/unitree_ros2_example’, ‘/opt/mybotshop/install/unitree_hg’, ‘/opt/mybotshop/install/go2_platform’, ‘/opt/mybotshop/install/go2_control’, ‘/opt/mybotshop/install/unitree_go’, ‘/opt/mybotshop/install/unitree_api’, ‘/opt/mybotshop/install/open_manipulator’, ‘/opt/mybotshop/install/open_manipulator_x_controller’, ‘/opt/mybotshop/install/open_manipulator_x_libs’, ‘/opt/mybotshop/install/robotis_manipulator’, ‘/opt/mybotshop/install/open_manipulator_x_teleop’, ‘/opt/mybotshop/install/open_manipulator_x_description’, ‘/opt/mybotshop/install/open_manipulator_msgs’, ‘/opt/mybotshop/install/odom_to_tf_ros2’, ‘/opt/mybotshop/install/go2_zt30’, ‘/opt/mybotshop/install/go2_webserver’, ‘/opt/mybotshop/install/go2_viz’, ‘/opt/mybotshop/install/go2_navigation’, ‘/opt/mybotshop/install/go2_moveit’, ‘/opt/mybotshop/install/go2_manipulation’, ‘/opt/mybotshop/install/go2_lidars’, ‘/opt/mybotshop/install/go2_joystick’, ‘/opt/mybotshop/install/go2_interface’, ‘/opt/mybotshop/install/go2_host’, ‘/opt/mybotshop/install/go2_gps’, ‘/opt/mybotshop/install/go2_description’, ‘/opt/mybotshop/install/go2_depth_camera’, ‘/opt/mybotshop/install/go2_bringup’, ‘/opt/mybotshop/install/dynamixel_hardware’, ‘/opt/mybotshop/install/domain_bridge’, ‘/opt/mybotshop/install/cmake_modules’, ‘/home/unitree/cyclonedds_ws/install/rmw_cyclonedds_cpp’, ‘/opt/ros/foxy’]”

Does anyone know how to fix this issue?
Thanks in advance

Sohail · December 5, 2025, 10:41am

You have to install the livox sdk. Just uncomment install_livox and run the following

https://github.com/MYBOTSHOP/qre_go2/blob/foxy-nvidia/src/mybotshop/go2_install.sh

Marc · December 8, 2025, 1:55pm

Hello Sohail,
Thank you for your reply.

The Livox SDK has been installed, but the same error continues to occur.

Logs from the Livox SDK installation process:

Do you want to install Livox SDK? (y/n): y
Installing Livox SDK
– The C compiler identification is GNU 9.4.0
– The CXX compiler identification is GNU 9.4.0
– Check for working C compiler: /usr/bin/cc
– Check for working C compiler: /usr/bin/cc – works
– Detecting C compiler ABI info
– Detecting C compiler ABI info - done
– Detecting C compile features
– Detecting C compile features - done
– Check for working CXX compiler: /usr/bin/c++
– Check for working CXX compiler: /usr/bin/c++ – works
– Detecting CXX compiler ABI info
– Detecting CXX compiler ABI info - done
– Detecting CXX compile features
– Detecting CXX compile features - done
– main project dir: /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2
– main project dir: /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/samples
– Configuring done
– Generating done
– Build files have been written to: /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/build
Scanning dependencies of target livox_lidar_sdk_static
Scanning dependencies of target livox_lidar_sdk_shared
[ 2%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/device_manager.cpp.o
[ 2%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/livox_lidar_sdk.cpp.o
[ 3%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir//3rdparty/FastCRC/FastCRCsw.cpp.o
[ 4%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir//3rdparty/FastCRC/FastCRCsw.cpp.o
[ 6%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/device_manager.cpp.o
[ 7%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/parse_cfg_file.cpp.o
[ 8%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/params_check.cpp.o
[ 9%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/base/io_loop.cpp.o
[ 10%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/params_check.cpp.o
[ 12%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/livox_lidar_sdk.cpp.o
[ 13%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/parse_cfg_file.cpp.o
[ 14%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/upgrade_manager.cpp.o
[ 15%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/base/io_thread.cpp.o
[ 16%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/base/thread_base.cpp.o
[ 18%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/base/logging.cpp.o
[ 19%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/base/network/unix/network_util.cpp.o
[ 20%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/base/thread_base.cpp.o
[ 21%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/upgrade_manager.cpp.o
[ 22%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/base/io_thread.cpp.o
[ 24%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/base/multiple_io/multiple_io_base.cpp.o
[ 26%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/base/multiple_io/multiple_io_epoll.cpp.o
[ 25%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/base/io_loop.cpp.o
[ 27%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/base/network/unix/network_util.cpp.o
[ 31%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/base/logging.cpp.o
[ 31%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/base/multiple_io/multiple_io_base.cpp.o
[ 32%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/base/multiple_io/multiple_io_select.cpp.o
[ 28%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/base/multiple_io/multiple_io_epoll.cpp.o
[ 33%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/base/multiple_io/multiple_io_kqueue.cpp.o
[ 34%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/base/multiple_io/multiple_io_poll.cpp.o
[ 36%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/base/multiple_io/multiple_io_poll.cpp.o
[ 37%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/base/multiple_io/multiple_io_select.cpp.o
[ 38%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/upgrade/firmware.cpp.o
[ 39%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/base/wake_up/unix/wake_up_pipe.cpp.o
[ 40%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/comm/comm_port.cpp.o
[ 42%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/comm/sdk_protocol.cpp.o
[ 43%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/comm/generate_seq.cpp.o
[ 44%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/base/multiple_io/multiple_io_kqueue.cpp.o
[ 45%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/base/wake_up/unix/wake_up_pipe.cpp.o
[ 48%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/upgrade/livox_lidar_upgrader.cpp.o
[ 46%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/logger_handler/logger_manager.cpp.o
[ 49%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/comm/comm_port.cpp.o
[ 51%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/comm/sdk_protocol.cpp.o
[ 54%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/comm/generate_seq.cpp.o
[ 55%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/upgrade/livox_lidar_upgrader.cpp.o
[ 50%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/logger_handler/file_manager.cpp.o
[ 53%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/logger_handler/logger_handler.cpp.o
[ 56%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/upgrade/firmware.cpp.o
[ 57%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/logger_handler/logger_manager.cpp.o
[ 59%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/data_handler/data_handler.cpp.o
[ 60%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/command_handler/general_command_handler.cpp.o
[ 61%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/command_handler/command_impl.cpp.o
[ 62%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/logger_handler/logger_handler.cpp.o
[ 63%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/command_handler/hap_command_handler.cpp.o
[ 65%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/logger_handler/file_manager.cpp.o
[ 66%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/command_handler/build_request.cpp.o
[ 68%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/command_handler/parse_lidar_state_info.cpp.o
[ 68%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/command_handler/mid360_command_handler.cpp.o
[ 69%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/command_handler/command_impl.cpp.o
[ 71%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/data_handler/data_handler.cpp.o
[ 72%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/command_handler/hap_command_handler.cpp.o
[ 73%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/debug_point_cloud_handler/debug_point_cloud_manager.cpp.o
[ 74%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/command_handler/general_command_handler.cpp.o
[ 75%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/command_handler/build_request.cpp.o
[ 77%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/command_handler/mid360_command_handler.cpp.o
[ 78%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/command_handler/parse_lidar_state_info.cpp.o
[ 79%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_static.dir/debug_point_cloud_handler/debug_point_cloud_handler.cpp.o
[ 80%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/debug_point_cloud_handler/debug_point_cloud_manager.cpp.o
[ 81%] Building CXX object sdk_core/CMakeFiles/livox_lidar_sdk_shared.dir/debug_point_cloud_handler/debug_point_cloud_handler.cpp.o
In file included from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/stream.h:19,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/memorystream.h:22,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/encodedstream.h:22,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/document.h:26,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/command_handler/parse_lidar_state_info.h:38,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/command_handler/parse_lidar_state_info.cpp:2:
/opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/rapidjson.h:542:29: warning: unknown option after ‘#pragma GCC diagnostic’ kind [-Wpragmas]
542 | #define RAPIDJSON_PRAGMA(x) _Pragma(RAPIDJSON_STRINGIFY(x))
| ^~~~~~~
/opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/rapidjson.h:543:34: note: in expansion of macro ‘RAPIDJSON_PRAGMA’
543 | #define RAPIDJSON_DIAG_PRAGMA(x) RAPIDJSON_PRAGMA(GCC diagnostic x)
| ^~~~~~~~~~~~~~~~
/opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/rapidjson.h:545:3: note: in expansion of macro ‘RAPIDJSON_DIAG_PRAGMA’
545 | RAPIDJSON_DIAG_PRAGMA(ignored RAPIDJSON_STRINGIFY(RAPIDJSON_JOIN(-W, x)))
| ^~~~~~~~~~~~~~~~~~~~~
/opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/internal/dtoa.h:36:1: note: in expansion of macro ‘RAPIDJSON_DIAG_OFF’
36 | RAPIDJSON_DIAG_OFF(array - bounds) // some gcc versions generate wrong warnings
| ^~~~~~~~~~~~~~~~~~
In file included from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/stream.h:19,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/memorystream.h:22,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/encodedstream.h:22,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/document.h:26,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/command_handler/parse_lidar_state_info.h:38,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/command_handler/parse_lidar_state_info.cpp:2:
/opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/rapidjson.h:542:29: warning: unknown option after ‘#pragma GCC diagnostic’ kind [-Wpragmas]
542 | #define RAPIDJSON_PRAGMA(x) _Pragma(RAPIDJSON_STRINGIFY(x))
| ^~~~~~~
/opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/rapidjson.h:543:34: note: in expansion of macro ‘RAPIDJSON_PRAGMA’
543 | #define RAPIDJSON_DIAG_PRAGMA(x) RAPIDJSON_PRAGMA(GCC diagnostic x)
| ^~~~~~~~~~~~~~~~
/opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/rapidjson.h:545:3: note: in expansion of macro ‘RAPIDJSON_DIAG_PRAGMA’
545 | RAPIDJSON_DIAG_PRAGMA(ignored RAPIDJSON_STRINGIFY(RAPIDJSON_JOIN(-W, x)))
| ^~~~~~~~~~~~~~~~~~~~~
/opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/internal/dtoa.h:36:1: note: in expansion of macro ‘RAPIDJSON_DIAG_OFF’
36 | RAPIDJSON_DIAG_OFF(array - bounds) // some gcc versions generate wrong warnings
| ^~~~~~~~~~~~~~~~~~
In file included from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/stream.h:19,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/memorystream.h:22,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/encodedstream.h:22,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/document.h:26,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/command_handler/parse_lidar_state_info.h:38,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/command_handler/mid360_command_handler.cpp:37:
/opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/rapidjson.h:542:29: warning: unknown option after ‘#pragma GCC diagnostic’ kind [-Wpragmas]
542 | #define RAPIDJSON_PRAGMA(x) _Pragma(RAPIDJSON_STRINGIFY(x))
| ^~~~~~~
/opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/rapidjson.h:543:34: note: in expansion of macro ‘RAPIDJSON_PRAGMA’
543 | #define RAPIDJSON_DIAG_PRAGMA(x) RAPIDJSON_PRAGMA(GCC diagnostic x)
| ^~~~~~~~~~~~~~~~
/opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/rapidjson.h:545:3: note: in expansion of macro ‘RAPIDJSON_DIAG_PRAGMA’
545 | RAPIDJSON_DIAG_PRAGMA(ignored RAPIDJSON_STRINGIFY(RAPIDJSON_JOIN(-W, x)))
| ^~~~~~~~~~~~~~~~~~~~~
/opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/internal/dtoa.h:36:1: note: in expansion of macro ‘RAPIDJSON_DIAG_OFF’
36 | RAPIDJSON_DIAG_OFF(array - bounds) // some gcc versions generate wrong warnings
| ^~~~~~~~~~~~~~~~~~
In file included from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/stream.h:19,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/memorystream.h:22,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/encodedstream.h:22,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/document.h:26,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/command_handler/parse_lidar_state_info.h:38,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/command_handler/hap_command_handler.cpp:37:
/opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/rapidjson.h:542:29: warning: unknown option after ‘#pragma GCC diagnostic’ kind [-Wpragmas]
542 | #define RAPIDJSON_PRAGMA(x) _Pragma(RAPIDJSON_STRINGIFY(x))
| ^~~~~~~
/opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/rapidjson.h:543:34: note: in expansion of macro ‘RAPIDJSON_PRAGMA’
543 | #define RAPIDJSON_DIAG_PRAGMA(x) RAPIDJSON_PRAGMA(GCC diagnostic x)
| ^~~~~~~~~~~~~~~~
/opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/rapidjson.h:545:3: note: in expansion of macro ‘RAPIDJSON_DIAG_PRAGMA’
545 | RAPIDJSON_DIAG_PRAGMA(ignored RAPIDJSON_STRINGIFY(RAPIDJSON_JOIN(-W, x)))
| ^~~~~~~~~~~~~~~~~~~~~
/opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/internal/dtoa.h:36:1: note: in expansion of macro ‘RAPIDJSON_DIAG_OFF’
36 | RAPIDJSON_DIAG_OFF(array - bounds) // some gcc versions generate wrong warnings
| ^~~~~~~~~~~~~~~~~~
In file included from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/stream.h:19,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/memorystream.h:22,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/encodedstream.h:22,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/document.h:26,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/command_handler/parse_lidar_state_info.h:38,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/command_handler/hap_command_handler.cpp:37:
/opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/rapidjson.h:542:29: warning: unknown option after ‘#pragma GCC diagnostic’ kind [-Wpragmas]
542 | #define RAPIDJSON_PRAGMA(x) _Pragma(RAPIDJSON_STRINGIFY(x))
| ^~~~~~~
/opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/rapidjson.h:543:34: note: in expansion of macro ‘RAPIDJSON_PRAGMA’
543 | #define RAPIDJSON_DIAG_PRAGMA(x) RAPIDJSON_PRAGMA(GCC diagnostic x)
| ^~~~~~~~~~~~~~~~
/opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/rapidjson.h:545:3: note: in expansion of macro ‘RAPIDJSON_DIAG_PRAGMA’
545 | RAPIDJSON_DIAG_PRAGMA(ignored RAPIDJSON_STRINGIFY(RAPIDJSON_JOIN(-W, x)))
| ^~~~~~~~~~~~~~~~~~~~~
/opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/internal/dtoa.h:36:1: note: in expansion of macro ‘RAPIDJSON_DIAG_OFF’
36 | RAPIDJSON_DIAG_OFF(array - bounds) // some gcc versions generate wrong warnings
| ^~~~~~~~~~~~~~~~~~
In file included from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/stream.h:19,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/memorystream.h:22,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/encodedstream.h:22,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/document.h:26,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/command_handler/parse_lidar_state_info.h:38,
from /opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/command_handler/mid360_command_handler.cpp:37:
/opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/rapidjson.h:542:29: warning: unknown option after ‘#pragma GCC diagnostic’ kind [-Wpragmas]
542 | #define RAPIDJSON_PRAGMA(x) _Pragma(RAPIDJSON_STRINGIFY(x))
| ^~~~~~~
/opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/rapidjson.h:543:34: note: in expansion of macro ‘RAPIDJSON_PRAGMA’
543 | #define RAPIDJSON_DIAG_PRAGMA(x) RAPIDJSON_PRAGMA(GCC diagnostic x)
| ^~~~~~~~~~~~~~~~
/opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/rapidjson.h:545:3: note: in expansion of macro ‘RAPIDJSON_DIAG_PRAGMA’
545 | RAPIDJSON_DIAG_PRAGMA(ignored RAPIDJSON_STRINGIFY(RAPIDJSON_JOIN(-W, x)))
| ^~~~~~~~~~~~~~~~~~~~~
/opt/mybotshop/src/third_party/lidars/05Jun2025_Livox-SDK2/sdk_core/…/3rdparty/rapidjson/internal/dtoa.h:36:1: note: in expansion of macro ‘RAPIDJSON_DIAG_OFF’
36 | RAPIDJSON_DIAG_OFF(array - bounds) // some gcc versions generate wrong warnings
| ^~~~~~~~~~~~~~~~~~
[ 83%] Linking CXX static library liblivox_lidar_sdk_static.a
[ 83%] Built target livox_lidar_sdk_static
Scanning dependencies of target debug_point_cloud
Scanning dependencies of target logger
Scanning dependencies of target multi_lidars_upgrade
Scanning dependencies of target livox_lidar_quick_start
Scanning dependencies of target lidar_cmd_observer
Scanning dependencies of target livox_lidar_rmc_time_sync
[ 85%] Building CXX object samples/logger/CMakeFiles/logger.dir/main.cpp.o
[ 85%] Building CXX object samples/debug_point_cloud/CMakeFiles/debug_point_cloud.dir/main.cpp.o
[ 86%] Building CXX object samples/multi_lidars_upgrade/CMakeFiles/multi_lidars_upgrade.dir/main.cpp.o
[ 87%] Building CXX object samples/lidar_cmd_observer/CMakeFiles/lidar_cmd_observer.dir/main.cpp.o
[ 89%] Linking CXX shared library liblivox_lidar_sdk_shared.so
[ 90%] Building CXX object samples/livox_lidar_quick_start/CMakeFiles/livox_lidar_quick_start.dir/main.cpp.o
[ 91%] Building CXX object samples/livox_lidar_rmc_time_sync/CMakeFiles/livox_lidar_rmc_time_sync.dir/main.cpp.o
[ 92%] Building CXX object samples/livox_lidar_rmc_time_sync/CMakeFiles/livox_lidar_rmc_time_sync.dir/linux/synchro.cpp.o
[ 93%] Linking CXX executable livox_lidar_quick_start
[ 95%] Linking CXX executable multi_lidars_upgrade
[ 96%] Linking CXX executable lidar_cmd_observer
[ 97%] Linking CXX executable logger
[ 98%] Linking CXX executable debug_point_cloud
[100%] Linking CXX executable livox_lidar_rmc_time_sync
[100%] Built target livox_lidar_sdk_shared
[100%] Built target logger
[100%] Built target livox_lidar_quick_start
[100%] Built target debug_point_cloud
[100%] Built target lidar_cmd_observer
[100%] Built target multi_lidars_upgrade
[100%] Built target livox_lidar_rmc_time_sync
[ 42%] Built target livox_lidar_sdk_shared
[ 84%] Built target livox_lidar_sdk_static
[ 86%] Built target livox_lidar_quick_start
[ 89%] Built target multi_lidars_upgrade
[ 91%] Built target logger
[ 93%] Built target debug_point_cloud
[ 96%] Built target lidar_cmd_observer
[100%] Built target livox_lidar_rmc_time_sync
Install the project…
– Install configuration: “”
– Installing: /usr/local/lib/liblivox_lidar_sdk_static.a
– Installing: /usr/local/include/livox_lidar_def.h
– Installing: /usr/local/include/livox_lidar_api.h
– Installing: /usr/local/include/livox_lidar_cfg.h
– Installing: /usr/local/lib/liblivox_lidar_sdk_shared.so

Did an error occur during installation, or are there other issues that could be causing this?

Sohail · December 9, 2025, 5:36pm

This should be fine please check with the build now

Marc · December 10, 2025, 11:38am

Sorry, I’m not sure what you mean by “check with the build now”. Should I try again in the hope that something has changed since the last error, or have you changed something in the qre_go2 package that should make it work?

Sohail · December 11, 2025, 8:48am

I meant

colcon build --symlink-install

Marc · December 12, 2025, 9:32am

Hello Sohail,
Thank you for your reply.

I ran colcon build --symlink-install in the /opt/mybotshop folder. Related logs:

unitree@go2-unit-14082:/opt/mybotshop$ colcon build --symlink-install
Starting >>> cmake_modules
Starting >>> go2_interface
Starting >>> open_manipulator_msgs
Starting >>> unitree_api
Finished <<< cmake_modules [0.66s]
Starting >>> unitree_go
Finished <<< go2_interface [3.26s]
Starting >>> robotis_manipulator
Finished <<< open_manipulator_msgs [3.38s]
Starting >>> dynamixel_hardware
Finished <<< unitree_api [3.45s]
Starting >>> go2_description
Finished <<< dynamixel_hardware [0.86s]
Starting >>> unitree_hg
Finished <<< robotis_manipulator [1.14s]
Finished <<< go2_description [0.90s]
Starting >>> open_manipulator_x_libs
Starting >>> open_manipulator_x_description
Finished <<< unitree_go [3.96s]
Starting >>> open_manipulator_x_teleop
Finished <<< open_manipulator_x_description [1.48s]
Starting >>> domain_bridge
Finished <<< open_manipulator_x_libs [1.65s]
Starting >>> open_manipulator_x_controller
Finished <<< open_manipulator_x_controller [0.96s]
Starting >>> go2_bringup
Finished <<< unitree_hg [2.97s]
Starting >>> go2_depth_camera
Finished <<< go2_depth_camera [0.60s]
Starting >>> go2_gps
Finished <<< go2_bringup [0.91s]
Starting >>> go2_host
Finished <<< go2_gps [0.74s]
Starting >>> go2_joystick
Finished <<< go2_host [0.94s]
Starting >>> go2_manipulation
Finished <<< go2_joystick [0.83s]
Starting >>> go2_navigation
Finished <<< go2_manipulation [0.82s]
Starting >>> go2_viz
Finished <<< go2_navigation [0.67s]
Starting >>> go2_webserver
Finished <<< go2_viz [0.64s]
Starting >>> go2_zt30
Finished <<< open_manipulator_x_teleop [6.55s]
Starting >>> odom_to_tf_ros2
Finished <<< go2_zt30 [1.15s]
Starting >>> go2_control
Finished <<< go2_webserver [1.60s]
Starting >>> go2_lidars
Finished <<< domain_bridge [5.86s]
Starting >>> go2_moveit
Finished <<< odom_to_tf_ros2 [0.89s]
Starting >>> go2_platform
Finished <<< go2_control [0.91s]
Starting >>> unitree_ros2_example
Finished <<< go2_moveit [0.71s]
Starting >>> open_manipulator
Finished <<< go2_lidars [1.12s]
Finished <<< open_manipulator [0.67s]
Finished <<< go2_platform [1.36s]
Finished <<< unitree_ros2_example [1.45s]

Summary: 31 packages finished [14.8s]

After that, the same error continued to occur. Do you have any other solutions?