[Unitree GO2-W] LiDAR in chin orientation

Software
1

Hello everyone,

I am having a problem with LiDAR in chin i see the topics of the LiDAR but not all topics are working the only ones working are /utlidar/cloud and /utlidar/imu the rest are not working.

This is “ros2 topic list”

ros2 topic list
ros2 topic list1247×1409 120 KB

This is “ros2 topic echo /utlidar/cloud” on left side and on right side “ros2 topic echo /utlidar/cloud_deskewed”

Screenshot from 2026-05-27 11-08-26
Screenshot from 2026-05-27 11-08-262485×1409 69.6 KB

2

Hi,

The reason is that different versions of go2’s have different firmware and default GO2 legged ones have the deskew topics .The Unitree GO2-W doesnt have it and if you want to deskew it you can update the URDF link and it will be ajusted from there.