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Cartographer ROS with Unitree 4D L1 on ROS2
Автор: TinLethax
Загружено: 2025-05-02
Просмотров: 321
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I recently bought the Unitree 4D L1 lidar. While waiting for the package to arrive, I downloaded and converted the official ros bag to ros2 bag and test it with Cartographer ROS on ROS2 humble. The local slam has a relatively large sub map of 150. And the global slam was tuned to have a latency low enough to run the bag at x2 and can still keep up (on core i7 and 8GB ram machine on WSL2 linux). You can checkout the ready to use package here
https://github.com/TiNredmc/sim_carto... which includes the lua parameter file, ros2 bag of the Unitree 4D L1 and a launch file.
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