livox MID360 lidar & nav2 explanation

[MattiaGrigoli]

i have a unitree go2 edu and i've managed to run this project on the jetson nano of the dog (by removing the other lidar and the realsense node from running, using the humble branch even if the ROS2 version on the board is foxy).
i wanted to ask if i can use the MID360 lidar with this project.
Also i wanted to ask some clarification about the nav2 part of this project, is there like a navigation pipeline or it means that it can be used with nav2 pipelines? (i'm pretty new to nav2)

[umsh315]

Hello. I am also currently developing a navigation stack for mid360, and of course it is possible to implement it. when the type of lidar sensor changes, the considerations are:

• coordinate conversion

• LaserScan or not (if not, conversion from pointcloud)

• change of lidar sdk

• time stamp

etc. I think there will be no problem if you change the lidar sdk accordingly. Some parameter changes may be necessary due to changes in sensor accuracy, but this is a problem after the system is operational.

[Juancams]

Hello!

I don't remember if a version is planned to be uploaded to use the MID360 lidar or if it's already being prepared for upload, but there's no problem using it with that lidar. You just need to have the package corresponding to that lidar in the robot's workspace and use the PointCloud2 topic it provides.

Regarding nav2, as I said, I suspect the package will give you a PointCloud2 topic, so you'll simply have to change the topics in the params.yaml that nav2 will use to make it work. And as mentioned in the other comment, you'll have to change the coordinates, which in other words, you'll have to hook the lidar to the robot's description so that everything is in the same coordinate system.