unitree go2 - sensor - Lidar

전찬욱·2025년 12월 1일

The coordinates of the Mid-360 lidar in the IMU coordinate system inside the Go2 body are (0.1870, 0, 0.0803), and it rotates 13 ° around the Y-axis. The relative rotation and translation relationship of Mid-360 in the IMU coordinate system inside the Go2 body can be represented by the following transformation matrix:

\begin{pmatrix} 0.9743701 & 0.0 & 0.2249511 & 0.1870 \\ 0.0 & 1.0 & 0.0 & 0.0 \\ -0.2249511 & 0.0 & 0.9743701 & 0.0803 \\ 0.0 & 0.0 & 0.0 & 1.0 \end{pmatrix}

The coordinates of the XT-16 lidar in the IMU coordinate system inside the Go2 body are (0.1710, 0, 0.0908), without relative rotation. The relative rotation and translation relationship of XT-16 in the IMU coordinate system inside the Go2 body can be represented by the following transformation matrix:

\begin{pmatrix} 1.0 & 0.0 & 0.0 & 0.171 \\ 0.0 & 1.0 & 0.0 & 0.0 \\ 0.0 & 0.0 & 1.0 & 0.0908 \\ 0.0 & 0.0 & 0.0 & 1.0 \end{pmatrix}

go2.xml

/lowstate/imu/...

go2.xml에서 얻은 걸로 imu와 body frame간의 관계

Translation: x = -0.02557 m, y = 0 m, z = 0.04232 m
Rotation: roll = 0, pitch = 0, yaw = 0

  <joint name="imu_joint" type="fixed">
    <origin xyz="-0.02557 0 0.04232" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="imu" />
  </joint>

T_{base\rightarrow imu} = \begin{pmatrix} 1 & 0 & 0 & -0.02557 \\ 0 & 1 & 0 & 0 \\ 0 & 0 & 1 & 0.04232 \\ 0 & 0 & 0 & 1 \end{pmatrix}

utlidar u1

utlidar/...

radar와 body frame간의 관계

Translation (위치):

x = 0.28945 m (로봇 앞쪽으로 약 29cm)
y = 0 m
z = -0.046825 m (약간 아래쪽)

Rotation (회전):

roll = 0 rad
pitch = 2.8782 rad (약 165°) - 거의 뒤집힌 상태
yaw = 0 rad

  <joint name="radar_joint" type="fixed">
    <origin xyz="0.28945 0 -0.046825" rpy="0 2.8782 0" />
    <parent link="base_link" />
    <child link="radar" />
  </joint>

T_{base\rightarrow radar} = \begin{pmatrix} −0.9659 & 0 & 0.2588 & 0.28945 \\ 0 & 1 & 0 & 0 \\ 0.2588 & 0 & −0.9659 & -0.046825 \\ 0 & 0 & 0 & 1 \end{pmatrix}

radar frame의 원점을 base frame에서 어떻게 보이는지
레이더 공간의 벡터 vᵣₐdₐᵣ 를 body(base) 공간으로 바꿀 때 쓰는 변환.

v_{base} = T_{base\rightarrow radar} \cdot v_{radar}

전찬욱

이전 포스트

unitree go2 - sim2sim - NetworkInterface

다음 포스트

unitree go2 - sensor - Lidar

go2.xml

utlidar u1

unitree go2 - sim2sim - NetworkInterface

ubuntu - rdp - terminate user

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