[Unitree GO2] L1 Lidar turn OFF/ON

Sensors
1

Hi,

I am trying to turn ON/OFF the integrated L1 LiDAR of my Unitree GO2 EDU robot.

Based on the robot’s manual (宇树科技 文档中心) I can do that by publishing a std_msgs::msg::dds_::String_ in the “rt/utlidar/switch” DDS topic. In fact, when I do it the Lidar pointcloud stops being published and the Lidar stops rotating. However, when I check the power consumption, there is no difference in consumption when turning OFF the sensor.

According to the L1 manual (宇树科技 文档中心) the LiDAR consumes 6W in normal conditions and less than 1W in stand-by status.

Could you confirm me that “rt/utlidar/switch” does not effectively sets the L1 to stand-by status? If so, how do I switch it to stand-by in order to save energy?

Thanks,

Arnau

2

The issue is if you completely switch it off, you will not be able to turn it on as there is no microcontroller relay for the physical hardware.

@Azib could you perhaps check with Unitree.

3

Well, it does not make much sense for me to set it in stand-by mode if I cannot get it operative afterwards.