[Unitree GO2W] The access to ther LiDAR sensor of GO2W

hi ,
i am facing some issues with accessing the the LiDAR of the Unitree go2w. Here i have setup all the sdk for the lIDAR and after running the launch the rviz will get launched but there wont be any liDAR projections showing in it.When i checked there is some issues with the publisher and subscriber part.

could anyone help me to solve this part.

Is this lidar the one in the ching or a separate unit on the back?

the one which is already in the chin, inbuilt.
when i was launching the the “point_lio_unilidar” using the command, the Rviz is getting launched.
also when i tried to contact with the Unitree support and was explaining the error i am facing they are saying that the

“livox_Rviz? That’s for mid-360.
Not L1
We didn’t give tf-data in the rviz.
You have to set by yourself.”

so wont us be able to use it in Rviz?

If you are our customer contact support@mybotshop.de and with your order id and github userid and gain access to qre_go2. In there follow instructions and the pointcloud from the chin etc is already set up.

Also the /utlidar/deskewed already has the point cloud you can check the frame id in the topic itself and put it in RViz2 and it will show up.

sorry we have directly got it from unitree, but if you could help could you share the knowledge about the error and also the github repository.

Despite the launch completing without error, I am unsure whether all the required ROS topics are being published and subscribed to correctly, especially with respect to:

  • Point cloud data
  • IMU data
  • Odometry
  • Path
  • TF frames

Current Node Graph

From the output of rqt_graph, here’s the current state of the system:

Nodes:

  • /unitree_lidar_ros_node
  • /laserMapping (from point_lio_unilidar)
  • rviz

Topics Published:

  • /unilidar/cloud
  • /unilidar/imu
  • /tf
  • /pointlio/cloud_registered
  • /pointlio/odom
  • /pointlio/path

Connections (from rqt_graph):

  • /unitree_lidar_ros_node/unilidar/cloud, /unilidar/imu, /tf
  • /laserMapping (aka point_lio) subscribes to: /unilidar/cloud, /unilidar/imu
  • /laserMapping publishes to: /pointlio/cloud_registered, /odom, /path

However, no TF data appears for camera_init, and RViz displays nothing even when subscribing to these topics.

The unitree go2w doesn’t provide tfs.

So what should I do to get the lidar sensor mapping

can anyone please help me out with problem.
even after using the expansion dock on go2w still not getting the point !