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Version History

v1.0.0 (2023.09.22)

Adapt Point-LIO for Unitree Lidar L1
Upload codes and dataset

v1.0.1 (2023.10.08)

Add video demo

v1.0.2 (2023.11.03)

Update launch file in README.md

v2.0.0 (2024.11.14)

Add support for Unitree Lidar L2

v2.0.1 (2024.11.19)

Add directory PCD for saving pcd files
Add odometry topic
Modify topic names to unified routines.
Add download address for L2 rosbag files

v2.0.2 (2025.07.04)

Increase downsample size for L2 from 0.1m to 0.4m
Modify IMU period from 0.005s to 0.004s