I am using Unitree Go2, but since I am a beginner, I don't fully understand everything.

[umsh315]

Hello Sasaki-san,

I am trying to use this package with the 4D LiDAR L1 mounted on the head of the Unitree Go2 quadruped robot. I modified the launch file by changing remappings=[('/input_cloud', '/velodyne_points')] to /utlidar/cloud_deskewed and arguments=['0', '0', '0', '0', '0', '0', '1', 'base_link', 'velodyne'] to odom, but it didn't work well. The path appears in a spiral shape, with irregular point clouds scattered around its center, and I am not sure what is happening. If you have any insights, I would greatly appreciate your assistance. Thank you in advance.

[rsasaki0109]

I am curious about the current state of the RViz display. Additionally, if you are working indoors, it might be helpful to adjust the parameters as described below:

#28 (comment)