the lowstate bridge is completed.
This commit is contained in:
Rooholla-Khorrambakht
parent
95cff05d6a
commit
9bb096405d
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@ -6,6 +6,11 @@ module msgs{
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float tau_est[12];
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float tmp[12];
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float contact[4];
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float quat[4];
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float gyro[3];
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float accel[3];
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float rpy[3];
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octet imu_tmp;
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float voltage;
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float current;
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};
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@ -28,6 +28,11 @@ class LowState(idl.IdlStruct, typename="msgs.LowState"):
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tau_est: types.array[types.float32, 12]
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tmp: types.array[types.float32, 12]
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contact: types.array[types.float32, 4]
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quat: types.array[types.float32, 4]
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gyro: types.array[types.float32, 3]
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accel: types.array[types.float32, 3]
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rpy: types.array[types.float32, 3]
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imu_tmp: types.uint8
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voltage: types.float32
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current: types.float32
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@ -43,8 +43,13 @@ propvec &get_type_props<::msgs::LowState>() {
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props.push_back(entity_properties_t(1, 3, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::tau_est
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props.push_back(entity_properties_t(1, 4, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::tmp
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props.push_back(entity_properties_t(1, 5, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::contact
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props.push_back(entity_properties_t(1, 6, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::voltage
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props.push_back(entity_properties_t(1, 7, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::current
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props.push_back(entity_properties_t(1, 6, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::quat
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props.push_back(entity_properties_t(1, 7, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::gyro
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props.push_back(entity_properties_t(1, 8, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::accel
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props.push_back(entity_properties_t(1, 9, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::rpy
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props.push_back(entity_properties_t(1, 10, false, get_bit_bound<uint8_t>(), extensibility::ext_final, false)); //::imu_tmp
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props.push_back(entity_properties_t(1, 11, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::voltage
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props.push_back(entity_properties_t(1, 12, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::current
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entity_properties_t::finish(props, keylist);
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props_end = props.data() + props.size();
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@ -9,6 +9,7 @@
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#ifndef DDSCXX_LOWSTATE_HPP
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#define DDSCXX_LOWSTATE_HPP
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#include <cstdint>
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#include <array>
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namespace msgs
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@ -22,6 +23,11 @@ private:
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std::array<float, 12> tau_est_ = { };
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std::array<float, 12> tmp_ = { };
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std::array<float, 4> contact_ = { };
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std::array<float, 4> quat_ = { };
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std::array<float, 3> gyro_ = { };
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std::array<float, 3> accel_ = { };
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std::array<float, 3> rpy_ = { };
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uint8_t imu_tmp_ = 0;
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float voltage_ = 0.0f;
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float current_ = 0.0f;
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@ -35,6 +41,11 @@ public:
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const std::array<float, 12>& tau_est,
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const std::array<float, 12>& tmp,
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const std::array<float, 4>& contact,
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const std::array<float, 4>& quat,
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const std::array<float, 3>& gyro,
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const std::array<float, 3>& accel,
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const std::array<float, 3>& rpy,
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uint8_t imu_tmp,
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float voltage,
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float current) :
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q_(q),
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@ -43,6 +54,11 @@ public:
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tau_est_(tau_est),
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tmp_(tmp),
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contact_(contact),
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quat_(quat),
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gyro_(gyro),
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accel_(accel),
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rpy_(rpy),
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imu_tmp_(imu_tmp),
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voltage_(voltage),
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current_(current) { }
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@ -70,6 +86,25 @@ public:
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std::array<float, 4>& contact() { return this->contact_; }
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void contact(const std::array<float, 4>& _val_) { this->contact_ = _val_; }
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void contact(std::array<float, 4>&& _val_) { this->contact_ = _val_; }
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const std::array<float, 4>& quat() const { return this->quat_; }
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std::array<float, 4>& quat() { return this->quat_; }
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void quat(const std::array<float, 4>& _val_) { this->quat_ = _val_; }
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void quat(std::array<float, 4>&& _val_) { this->quat_ = _val_; }
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const std::array<float, 3>& gyro() const { return this->gyro_; }
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std::array<float, 3>& gyro() { return this->gyro_; }
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void gyro(const std::array<float, 3>& _val_) { this->gyro_ = _val_; }
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void gyro(std::array<float, 3>&& _val_) { this->gyro_ = _val_; }
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const std::array<float, 3>& accel() const { return this->accel_; }
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std::array<float, 3>& accel() { return this->accel_; }
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void accel(const std::array<float, 3>& _val_) { this->accel_ = _val_; }
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void accel(std::array<float, 3>&& _val_) { this->accel_ = _val_; }
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const std::array<float, 3>& rpy() const { return this->rpy_; }
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std::array<float, 3>& rpy() { return this->rpy_; }
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void rpy(const std::array<float, 3>& _val_) { this->rpy_ = _val_; }
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void rpy(std::array<float, 3>&& _val_) { this->rpy_ = _val_; }
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uint8_t imu_tmp() const { return this->imu_tmp_; }
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uint8_t& imu_tmp() { return this->imu_tmp_; }
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void imu_tmp(uint8_t _val_) { this->imu_tmp_ = _val_; }
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float voltage() const { return this->voltage_; }
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float& voltage() { return this->voltage_; }
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void voltage(float _val_) { this->voltage_ = _val_; }
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@ -86,6 +121,11 @@ public:
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tau_est_ == _other.tau_est_ &&
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tmp_ == _other.tmp_ &&
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contact_ == _other.contact_ &&
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quat_ == _other.quat_ &&
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gyro_ == _other.gyro_ &&
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accel_ == _other.accel_ &&
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rpy_ == _other.rpy_ &&
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imu_tmp_ == _other.imu_tmp_ &&
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voltage_ == _other.voltage_ &&
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current_ == _other.current_;
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}
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@ -118,13 +158,13 @@ template <> constexpr bool TopicTraits<::msgs::LowState>::isKeyless()
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}
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#ifdef DDSCXX_HAS_TYPE_DISCOVERY
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template<> constexpr unsigned int TopicTraits<::msgs::LowState>::type_map_blob_sz() { return 630; }
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template<> constexpr unsigned int TopicTraits<::msgs::LowState>::type_map_blob_sz() { return 930; }
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template<> constexpr unsigned int TopicTraits<::msgs::LowState>::type_info_blob_sz() { return 100; }
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template<> inline const uint8_t * TopicTraits<::msgs::LowState>::type_map_blob() {
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static const uint8_t blob[] = {
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0xf3, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xd4, 0x69, 0x80, 0x35, 0xf5, 0x8b, 0x51,
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0xea, 0x7f, 0x47, 0x3a, 0x7b, 0x09, 0x0f, 0x00, 0xdb, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
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0x5b, 0xdc, 0x10, 0x55, 0xb8, 0xdc, 0x20, 0x00, 0x5b, 0x01, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x4b, 0x01, 0x00, 0x00, 0x0d, 0x00, 0x00, 0x00,
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0x16, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x0c, 0x09, 0x76, 0x94, 0xf4, 0xa6, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
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@ -135,13 +175,21 @@ template<> inline const uint8_t * TopicTraits<::msgs::LowState>::type_map_blob()
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0x16, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x0c, 0x09, 0xfa, 0x81, 0x6e, 0xdb, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00,
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0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
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0xf2, 0xf7, 0x0b, 0xf4, 0x7b, 0xfb, 0x17, 0xea, 0xce, 0xcb, 0x7f, 0x4c, 0xbc, 0x81, 0x4c, 0x00,
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@ -155,23 +203,34 @@ template<> inline const uint8_t * TopicTraits<::msgs::LowState>::type_map_blob()
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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0xbc, 0x81, 0x4c, 0xf1, 0xec, 0xa8, 0x61, 0xd2, 0xd7, 0x0d, 0xa1, 0x5b, 0xdc, 0x10, 0x55, 0xb8,
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0xdc, 0x20, };
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return blob;
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}
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template<> inline const uint8_t * TopicTraits<::msgs::LowState>::type_info_blob() {
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static const uint8_t blob[] = {
|
||||
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
|
||||
0x14, 0x00, 0x00, 0x00, 0xf1, 0xd4, 0x69, 0x80, 0x35, 0xf5, 0x8b, 0x51, 0xea, 0x7f, 0x47, 0x3a,
|
||||
0x7b, 0x09, 0x0f, 0x00, 0xdf, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
|
||||
0x14, 0x00, 0x00, 0x00, 0xf1, 0xec, 0xa8, 0x61, 0xd2, 0xd7, 0x0d, 0xa1, 0x5b, 0xdc, 0x10, 0x55,
|
||||
0xb8, 0xdc, 0x20, 0x00, 0x5f, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
|
||||
0x14, 0x00, 0x00, 0x00, 0xf2, 0x84, 0x20, 0x63, 0xda, 0x5c, 0x28, 0xbb, 0x27, 0x92, 0xe4, 0x1c,
|
||||
0xce, 0x56, 0xbc, 0x00, 0x3e, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
|
||||
0x14, 0x00, 0x00, 0x00, 0xf2, 0xf7, 0x0b, 0xf4, 0x7b, 0xfb, 0x17, 0xea, 0xce, 0xcb, 0x7f, 0x4c,
|
||||
0xbc, 0x81, 0x4c, 0x00, 0xea, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, };
|
||||
return blob;
|
||||
}
|
||||
|
|
@ -291,12 +350,68 @@ bool write(T& streamer, const ::msgs::LowState& instance, entity_properties_t *p
|
|||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.voltage()))
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!write(streamer, instance.quat()[0], instance.quat().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 7:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!write(streamer, instance.gyro()[0], instance.gyro().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 8:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!write(streamer, instance.accel()[0], instance.accel().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 9:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!write(streamer, instance.rpy()[0], instance.rpy().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 10:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.imu_tmp()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 11:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.voltage()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 12:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.current()))
|
||||
|
|
@ -400,12 +515,68 @@ bool read(T& streamer, ::msgs::LowState& instance, entity_properties_t *props) {
|
|||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.voltage()))
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!read(streamer, instance.quat()[0], instance.quat().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 7:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!read(streamer, instance.gyro()[0], instance.gyro().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 8:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!read(streamer, instance.accel()[0], instance.accel().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 9:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!read(streamer, instance.rpy()[0], instance.rpy().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 10:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.imu_tmp()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 11:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.voltage()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 12:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.current()))
|
||||
|
|
@ -509,12 +680,68 @@ bool move(T& streamer, const ::msgs::LowState& instance, entity_properties_t *pr
|
|||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.voltage()))
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!move(streamer, instance.quat()[0], instance.quat().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 7:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!move(streamer, instance.gyro()[0], instance.gyro().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 8:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!move(streamer, instance.accel()[0], instance.accel().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 9:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!move(streamer, instance.rpy()[0], instance.rpy().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 10:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.imu_tmp()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 11:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.voltage()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 12:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.current()))
|
||||
|
|
@ -618,12 +845,68 @@ bool max(T& streamer, const ::msgs::LowState& instance, entity_properties_t *pro
|
|||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.voltage()))
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!max(streamer, instance.quat()[0], instance.quat().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 7:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!max(streamer, instance.gyro()[0], instance.gyro().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 8:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!max(streamer, instance.accel()[0], instance.accel().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 9:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!max(streamer, instance.rpy()[0], instance.rpy().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 10:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.imu_tmp()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 11:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.voltage()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 12:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.current()))
|
||||
|
|
|
|||
|
|
@ -78,10 +78,6 @@ private:
|
|||
void LowCmdWrite();
|
||||
std::thread go2py_thread;
|
||||
bool running = true;
|
||||
void go2py_callback(const msgs::LowCmd& msg);
|
||||
DDSPublisher<msgs::LowState> lowstate_publisher;
|
||||
DDSSubscriber<msgs::LowCmd> lowcmd_subscriber;
|
||||
|
||||
|
||||
private:
|
||||
float dt = 0.002; // 0.001~0.01
|
||||
|
|
@ -93,21 +89,26 @@ private:
|
|||
ChannelSubscriberPtr<unitree_go::msg::dds_::LowState_> lowstate_subscriber;
|
||||
/*LowCmd write thread*/
|
||||
ThreadPtr lowCmdWriteThreadPtr;
|
||||
// Callback function for the Go2Py command subscriber
|
||||
void go2py_callback(const msgs::LowCmd& msg);
|
||||
// State publisher to Go2Py
|
||||
DDSPublisher<msgs::LowState> lowstate_publisher;
|
||||
// Command subscriber from Go2Py
|
||||
DDSSubscriber<msgs::LowCmd> lowcmd_subscriber;
|
||||
};
|
||||
|
||||
void Go2LowLevelBridge::Init()
|
||||
{
|
||||
InitLowCmd();
|
||||
/*create publisher*/
|
||||
/*create robot lowstate publisher*/
|
||||
lowcmd_publisher.reset(new ChannelPublisher<unitree_go::msg::dds_::LowCmd_>(TOPIC_LOWCMD));
|
||||
lowcmd_publisher->InitChannel();
|
||||
/*create subscriber*/
|
||||
/*create robot lowcmd subscriber*/
|
||||
lowstate_subscriber.reset(new ChannelSubscriber<unitree_go::msg::dds_::LowState_>(TOPIC_LOWSTATE));
|
||||
lowstate_subscriber->InitChannel(std::bind(&Go2LowLevelBridge::LowStateMessageHandler, this, std::placeholders::_1), 1);
|
||||
/*loop publishing thread*/
|
||||
// lowCmdWriteThreadPtr = CreateRecurrentThreadEx("writebasiccmd", UT_CPU_ID_NONE, 2000, &Go2LowLevelBridge::LowCmdWrite, this);
|
||||
}
|
||||
|
||||
// Upon the reception of the commands form the Go2Py, forward them to the robot
|
||||
void Go2LowLevelBridge::go2py_callback(const msgs::LowCmd& msg)
|
||||
{
|
||||
for(int i=0; i<12; i++)
|
||||
|
|
@ -140,6 +141,7 @@ void Go2LowLevelBridge::InitLowCmd()
|
|||
}
|
||||
}
|
||||
|
||||
// Upon the reception of each state from the robot, forward it to the Go2Py
|
||||
void Go2LowLevelBridge::LowStateMessageHandler(const void* message)
|
||||
{
|
||||
low_state = *(unitree_go::msg::dds_::LowState_*)message;
|
||||
|
|
@ -153,37 +155,35 @@ void Go2LowLevelBridge::LowStateMessageHandler(const void* message)
|
|||
lowstate.tau_est()[i] = low_state.motor_state()[i].tau_est();
|
||||
lowstate.tmp()[i] = (float)low_state.motor_state()[i].temperature();
|
||||
}
|
||||
|
||||
for(int i=0; i<4; i++)
|
||||
{
|
||||
lowstate.contact()[i] = (float)low_state.foot_force()[i];
|
||||
lowstate.quat()[i] = low_state.imu_state().quaternion()[i];
|
||||
}
|
||||
for(int i=0; i<3; i++)
|
||||
{
|
||||
lowstate.accel()[i] = low_state.imu_state().accelerometer()[i];
|
||||
lowstate.gyro()[i] = low_state.imu_state().gyroscope()[i];
|
||||
lowstate.rpy()[i] = low_state.imu_state().rpy()[i];
|
||||
}
|
||||
lowstate.voltage() = (float)low_state.power_v();
|
||||
lowstate.current() = (float)low_state.power_a();
|
||||
|
||||
for(int i=0; i<4; i++)
|
||||
lowstate.contact()[i] = (float)low_state.foot_force()[i];
|
||||
|
||||
lowstate.imu_tmp() = (float)low_state.imu_state().temperature();
|
||||
lowstate_publisher.publish(lowstate);
|
||||
}
|
||||
|
||||
void Go2LowLevelBridge::LowCmdWrite()
|
||||
{
|
||||
low_cmd.motor_cmd()[2].q() = 0;
|
||||
low_cmd.motor_cmd()[2].dq() = 0;
|
||||
low_cmd.motor_cmd()[2].kp() = 0;
|
||||
low_cmd.motor_cmd()[2].kd() = 0;
|
||||
low_cmd.motor_cmd()[2].tau() = 0;
|
||||
low_cmd.crc() = crc32_core((uint32_t *)&low_cmd, (sizeof(unitree_go::msg::dds_::LowCmd_)>>2)-1);
|
||||
lowcmd_publisher->Write(low_cmd);
|
||||
}
|
||||
|
||||
int main(int argc, const char** argv)
|
||||
{
|
||||
if (argc < 2)
|
||||
{
|
||||
std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl;
|
||||
std::cout << "Usage: " << argv[0] << "domain_id" << std::endl;
|
||||
exit(-1);
|
||||
}
|
||||
int domain_id = std::stoi(argv[1]);
|
||||
|
||||
// ChannelFactory::Instance()->Init(0, argv[1]);
|
||||
Go2LowLevelBridge bridge("go2py/lowcmd", "go2py/lowstate");
|
||||
Go2LowLevelBridge bridge("go2_robot"+std::to_string(domain_id)+"/lowcmd",
|
||||
"go2_robot"+std::to_string(domain_id)+"/lowstate");
|
||||
bridge.Init();
|
||||
while (1)
|
||||
{
|
||||
|
|
|
|||
Loading…
Reference in New Issue