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Unitree Lidar SDK

Introduction

This package is a cmake package, which is specially used for running Unitree LiDAR L1.

The functions that this package can provide includes:

  • Parse the raw data transmitted from the lidar hardware, and convert it into pointcloud and IMU data
  • Get the pointcloud data
  • Get the IMU data

The output pointcloud defaultly uses a self-defined data type so that this SDK doesn't rely too much on external dependencies. In other case,

  • if you are used to use Point Cloud Library, you can use the header unitree_lidar_sdk_pcl.h to transform our pointcloud to PCL format;
  • if you wish to directly use a ROS package, you are also able to utilize our ROS pacakge for this lidar.

Dependency

We have verified that this package can successfully run under this environment:

  • Ubuntu 20.04

This SDK hardly depends on any external dependencies. But if you want to use PCL cloud format, you need to install one.

Configure

Connect your lidar to your computer with a USB cable, then confirm your serial port name for lidar:

$ ls /dev/ttyUSB*
/dev/ttyUSB0

The default serial port name is /dev/ttyUSB0. If it is not the default one, you need to modify the configuration parameter in example_lidar.cpp.

Build

You can build this program as a cmake project:

cd unitree_lidar_sdk

mkdir build

cd build

cmake .. && make -j2

Run

Directly run the example:

../bin/example_lidar

The output is like this:

$ ../bin/example_lidar 
lidar firmware version = 0.3.2+230511
lidar sdk version = 1.0.3

Dirty Percentage = 5.145833 %
Dirty Percentage = 4.166667 %
Dirty Percentage = 4.166667 %

Turn on all the LED lights ...
Turn off all the LED lights ...
Set LED mode to: FORWARD_SLOW ...
Set LED mode to: REVERSE_SLOW ...
Set LED mode to: SIXSTAGE_BREATHING ...

Set Lidar working mode to: NORMAL_MODE ... 

An IMU msg is parsed!
	stamp = 1683874160.559222, id = 729
	quaternion (x, y, z, w) = [0.0131, -0.0091, 0.6888, -0.7225]

An IMU msg is parsed!
	stamp = 1683874160.564979, id = 121
	quaternion (x, y, z, w) = [0.0102, -0.0093, 0.7099, -0.7018]

An IMU msg is parsed!
	stamp = 1683874160.568425, id = 122
	quaternion (x, y, z, w) = [0.0118, -0.0096, 0.7099, -0.7018]

An IMU msg is parsed!
	stamp = 1683874160.573472, id = 123
	quaternion (x, y, z, w) = [0.0126, -0.0093, 0.7098, -0.7018]

An IMU msg is parsed!
	stamp = 1683874160.577348, id = 124
	quaternion (x, y, z, w) = [0.0128, -0.0093, 0.7099, -0.7018]

A Cloud msg is parsed! 
	stamp = 1683874145.535888, id = 1
	cloud size  = 278
	first 10 points (x,y,z,intensity,time,ring) = 
	  (-0.029885, -0.136897, 0.000448, 88.000000, 0.000000, 0)
	  (-0.035384, -0.171399, 0.005140, 91.000000, 0.000023, 0)
	  (-0.043000, -0.219542, 0.012437, 127.000000, 0.000046, 0)
	  (-0.054879, -0.294965, 0.024572, 132.000000, 0.000069, 0)
	  (-0.055288, -0.301204, 0.033170, 106.000000, 0.000093, 0)
	  (-0.054542, -0.300348, 0.041173, 101.000000, 0.000116, 0)
	  (-0.053764, -0.299285, 0.049148, 99.000000, 0.000139, 0)
	  (-0.056123, -0.318406, 0.060981, 92.000000, 0.000162, 0)
	  (-0.055230, -0.316827, 0.069422, 91.000000, 0.000185, 0)
	  (-0.051257, -0.294854, 0.072849, 128.000000, 0.000208, 0)
	  ...

Here, we print the first 10 points of the pointcloud message and the quaternion of the IMU message.

Notice:

  • In Ubuntu, accessing a serial port device requires the appropriate permissions. If your C++ program does not have sufficient permissions to access the serial port device, you will get a "Permission denied" error.
  • To solve this error, you can use the following command to add the current user to the dialout group:
sudo usermod -a -G dialout $USER
  • After adding the user to the dialout group, you need to log out and log back in for the changes to take effect.

How To Parse Point Cloud From MavLink Messages

If you want to parse point cloud from MavLink Messages which are acquired from serial directly, you can refer to this document.

Version History

v1.0.0 (2023.05.04)

  • Support firmware version: 0.3.1

v1.0.1 (2023.05.05)

  • Support firmware version: 0.3.1
  • Add support of setting lidar working mode, e.g. NORMAL_MODE and STANDBY_MODE
  • Add support of LED lights

v1.0.2 (2023.05.11)

  • Support firmware version: 0.3.2

v1.0.3 (2023.05.12)

  • Support firmware version: 0.3.2
  • Add support of getting the percentage of removed dirty points

v1.0.4 (2023.05.30)

  • Support firmware version: 1.0.1

v1.0.5 (2023.06.05)

  • Support firmware version: 1.0.1
  • Update default rotate_yaw_bias to calibrated value -38.5 degree.
  • Update README.md with notice to solve the "Permission denied" error while opening serial port.

v1.0.6 (2023.06.19)

  • Support firmware version: 1.0.1
  • Modify the initialize() function to check whether the specified serial port exist. If the serial port name does not exist, initialization fails and return -1 rather than throw out an error unexpectedly。
  • Add z bias to lidar basis plane

v1.0.7 (2023.06.21)

  • Support firmware version: 1.0.1
  • Add coordinate system definition in readme
  • Modified readme of unitree_lidar_ros and unitree_lidar_ros2

v1.0.8 (2023.06.28)

  • Support firmware version: 1.0.1
  • Solve the dependency problem --- cannot find -llz4
  • Add mavlink headers for optional use

v1.0.9 (2023.06.30)

  • Support firmware version: 1.0.1
  • Delete the date postfix of firmware version
  • Improve support of setting lidar working mode, which can switch between NORMAL_MODE and STANDBY_MODE

v1.0.10 (2023.07.17)

  • Support firmware version: 1.0.1
  • Add a UDP publisher written in C++, which can publish lidar data to a specified IP address and port
  • Add a UDP subscriber example written in C++, which is able to subscibe scan and imu data mentioned above
  • Add a UDP subscriber example written in Python, which is able to subscibe scan and imu data mentioned above
  • Add a compiled install package for Windows user, though which you can acquire lidar data in windows.

v1.0.11 (2023.07.27)

  • Add a instruction document for how to parse point cloud and imu data from mavlink messages directly.
  • The document is HowToParsePointCloudAndIMUDataFromMavLinkMessages.md

v1.0.12 (2023.09.20)

  • Add support of UDP interface, which can parse original bytes from a specified UDP port and send commands to lidar ip and port.
  • Update unitree_lidar_ros

v1.0.13 (2023.10.09)

  • Modify the serial port reading method in unitree_lidar_sdk. It will block when you call runParse() function, waiting for the serial port to have bytes and then reading the data once.
  • Support Serial-to-UDP adapter board

v1.0.14 (2023.10.30)

  • Repair occasional segmentation fault when using serial-to-udp board.

v1.0.15 (2024.01.04)

  • Modify default lidar and local ip address in example_lidar_udp.cpp