How to solve the tf transformation in your program?

[HangyuDemo]

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Currently our team want to add slam/navigation to the Unitree go2. While the Go2 official document do provide the URDF to do TF. But they still miss the odom->base_link. We only have hesai lidar without robosense camera. So, I will be very appreciate if you could share some working experience about this part.

[Juancams]

Hello!!

When you launch the go2_driver package, you'll see the odom->base_link transformation. Also, we have go2_navigation in this repository, so there's no need to create a new one, just debug it.

Greetings

[HangyuDemo]

Hi!

We saw the odom -> base_link transformation you implemented under the go2_driver package — thanks for that!

I just wanted to ask if you also provide a Python version of this transformation?

By the way, this is a really great project — full support from our side!

Best!

[Juancams]

No, in principle everything is C++, but you are free to migrate it and we can open a repository for you to upload it.

I assume your problem is solved, so I'll close the issue.

Regards ^^

[HangyuDemo]

Thanks!!!! You project is so good!!!