[Unitree GO2] SLAM(Creating Map) not working

Software
1

I am using the Unitree GO2 EDU version which is QRE GO2 with Open Manipulator and Steamdeck. While testing through the user manual until chapter 4 about Navigation. I tried to start the slam as given in the manual with ros2 launch go2_navigation slam.launch.py. Here the slam launch file does not contain starting RViz. So in order to visualize the scanned map, I started the visualization with ros2 launch go2_viz view_robot.launch.py. There I can only see the realtime GO2 LiDar topic messages when I change the frame to odom.
When I add the topic, with neither /go2_unit_xxxx/maps nor /maps, can I see the scanned map as is given on the manual. Both of them give a warning that no maps recieved. I have checked the slam toolbox which is also in mapping mode, which is correct.
Does anyone have similar situation? Many thanks in advance for any help!

Best regards

2

Once you run the slam it should work. The quickest way to debug is to first check via the remote screen in the webserver with the RViz if the map is being generated.

Once you run the SLAM please check in domain id 10 whether you have data coming via ros2 topic echo /go2_unit_xxxx/maps if it is coming then a setting mismatch is occuring. If not then check via the launch file if topics are being matched.

Please post a screenshot of the terminal with slamtoolbox after its launched alongside the topic echo and topic list. All in domain id 10.