KO
|
EN
gitlite — search
Search
#javascript
#typescript
#python
#react
#docker
#css
#csharp
#minecraft
#postgresql
#python3
#bootstrap
#html
Go2-Adaptive-LIO
★ 29
Open GitHub ↗
No description available.
Download README (.md)
Explore Similar Repositories
joycon2py
:
GitHub repo for the Joycon2py project
ezonnx
:
Easy & unified ONNX inference library for state-of-the-art vision models
sendworm
:
Desktop GUI for magic-wormhole
bpe-qwen
:
A blazing-fast BPE tokenizer for Qwen models built with Rust
slosh
:
Cross-platform MPM physics simulation in Rust and Slang
// repository documentation
Was this content helpful?
★ 0
(0 ratings)
Select Rating:
★
★
★
★
★
Submit Feedback
Recent Feedback
×
Download README
Do you want to download the
README.md
file for
Go2-Adaptive-LIO
?
Download (.md)
# 3d Unitree Quadruped robot LIO simulation <p align="center"> <img src="https://github.com/user-attachments/assets/c56ca79e-c744-48f7-a4ca-7d35727373a3" alt="Timeline1" /> </p> ## prerequisites - ros1 noetic or melodic ``` wget http://fishros.com/install -O fishros && . fishros ``` - preconfiguration ``` sudo rosdep init rosdep update rosdep install --from-paths src --ignore-src -r -y sudo apt-get install libgoogle-glog-dev libeigen3-dev libpcl-dev libyaml-cpp-dev liblcm-dev ``` - onnxruntime configuration [onnx-release](https://github.com/microsoft/onnxruntime/releases/tag/v1.21.0) or ``` wget https://github.com/microsoft/onnxruntime/releases/download/v1.21.0/onnxruntime-linux-x64-1.21.0.tgz ``` then uncompress it and run command below: ``` sudo cp -r ./onnxruntime-linux-x64-1.21.0 /usr/lib/onnxruntime-linux-x64 ``` clone this repository ``` git clone https://github.com/pym96/Go2-Adaptive-LIO.git ``` - compile ``` catkin build ``` - run simulation (source devel/setup.bash) first ``` roslaunch robot_control RobotBringup.launch # Small room scene simulation. roslaunch robot_control RobotBringupStairs.launch # Scene simulation with stairs. ``` - run keyboard cmd control (w a s d to control velocity, space bar to stop) ``` roslaunch robot_cmd keyboard_teleop.launch ``` - run LIO system ``` roslaunch faster_lio mapping_velodyne.launch ``` ## Reference link * **`Onnxruntime`** : https://github.com/microsoft/onnxruntime.git * **`Faster-lio`** (A light-weight Lidar-inertial odometry for lidar pose tracking and point cloud mapping.):https://github.com/gaoxiang12/faster-lio.git * **`Unitree-guide`** (The following will quickly introduce the use of unitree_guide in the gazebo simulator. For more usage, please refer to 《四足机器人控制算法--建模、控制与实践》.) :https://github.com/unitreerobotics/unitree_guide.git ## Future work - Terrian analysis with [elevation_mapping](https://github.com/ANYbotics/elevation_mapping.git) - Final 3d planner with things above.....
