Unitree Unitree B2-W EDU doc--Sensor Communication and SLAM

Sensor Communication

The data flow in B2W is built on CycloneDDS which is the basis for ROS2. As I am more familiar with ROS1, here I show how to subscribe sensor messages using unitree_sdk2_python message types

CycloneDDS

Install cyclonedds python package following this tutorial.

Some basic commands:

• cyclonedds ps: show all messages
• cyclonedds typeof <topic_name>: check topic types
• `cyclonedds subscribe : susbcribe topic

subscribe LiDAR pointcloud

use built-in python message type PointCloud2_

subscribe IMU data

use built-in python message type IMUState