ros2 bridge added.

2024-02-09 01:47:33 +08:00 · 2024-02-09 01:47:33 +08:00 · a895b6396a
parent 6339d8f423
commit a895b6396a
1738 changed files with 96191 additions and 0 deletions
--- a/deploy/dds_bridge/CMakeLists.txt
+++ b/deploy/dds_bridge/CMakeLists.txt
--- a/deploy/dds_bridge/include/go2py/Imu.cpp
+++ b/deploy/dds_bridge/include/go2py/Imu.cpp
--- a/deploy/dds_bridge/include/go2py/Imu.hpp
+++ b/deploy/dds_bridge/include/go2py/Imu.hpp
--- a/deploy/dds_bridge/include/go2py/LowCmd.cpp
+++ b/deploy/dds_bridge/include/go2py/LowCmd.cpp
--- a/deploy/dds_bridge/include/go2py/LowCmd.hpp
+++ b/deploy/dds_bridge/include/go2py/LowCmd.hpp
--- a/deploy/dds_bridge/include/go2py/LowState.cpp
+++ b/deploy/dds_bridge/include/go2py/LowState.cpp
--- a/deploy/dds_bridge/include/go2py/LowState.hpp
+++ b/deploy/dds_bridge/include/go2py/LowState.hpp
--- a/deploy/dds_bridge/include/unitree/common/any.hpp
+++ b/deploy/dds_bridge/include/unitree/common/any.hpp
--- a/deploy/dds_bridge/include/unitree/common/assert.hpp
+++ b/deploy/dds_bridge/include/unitree/common/assert.hpp
--- a/deploy/dds_bridge/include/unitree/common/block_queue.hpp
+++ b/deploy/dds_bridge/include/unitree/common/block_queue.hpp
--- a/deploy/dds_bridge/include/unitree/common/dds/dds_callback.hpp
+++ b/deploy/dds_bridge/include/unitree/common/dds/dds_callback.hpp
--- a/deploy/dds_bridge/include/unitree/common/dds/dds_easy_model.hpp
+++ b/deploy/dds_bridge/include/unitree/common/dds/dds_easy_model.hpp
--- a/deploy/dds_bridge/include/unitree/common/dds/dds_entity.hpp
+++ b/deploy/dds_bridge/include/unitree/common/dds/dds_entity.hpp
--- a/deploy/dds_bridge/include/unitree/common/dds/dds_error.hpp
+++ b/deploy/dds_bridge/include/unitree/common/dds/dds_error.hpp
--- a/deploy/dds_bridge/include/unitree/common/dds/dds_exception.hpp
+++ b/deploy/dds_bridge/include/unitree/common/dds/dds_exception.hpp
--- a/deploy/dds_bridge/include/unitree/common/dds/dds_factory_model.hpp
+++ b/deploy/dds_bridge/include/unitree/common/dds/dds_factory_model.hpp
--- a/deploy/dds_bridge/include/unitree/common/dds/dds_native.hpp
+++ b/deploy/dds_bridge/include/unitree/common/dds/dds_native.hpp
--- a/deploy/dds_bridge/include/unitree/common/dds/dds_parameter.hpp
+++ b/deploy/dds_bridge/include/unitree/common/dds/dds_parameter.hpp
--- a/deploy/dds_bridge/include/unitree/common/dds/dds_qos.hpp
+++ b/deploy/dds_bridge/include/unitree/common/dds/dds_qos.hpp
--- a/deploy/dds_bridge/include/unitree/common/dds/dds_qos_parameter.hpp
+++ b/deploy/dds_bridge/include/unitree/common/dds/dds_qos_parameter.hpp
--- a/deploy/dds_bridge/include/unitree/common/dds/dds_qos_policy.hpp
+++ b/deploy/dds_bridge/include/unitree/common/dds/dds_qos_policy.hpp
--- a/deploy/dds_bridge/include/unitree/common/dds/dds_qos_policy_parameter.hpp
+++ b/deploy/dds_bridge/include/unitree/common/dds/dds_qos_policy_parameter.hpp
--- a/deploy/dds_bridge/include/unitree/common/dds/dds_qos_realize.hpp
+++ b/deploy/dds_bridge/include/unitree/common/dds/dds_qos_realize.hpp
--- a/deploy/dds_bridge/include/unitree/common/dds/dds_topic_channel.hpp
+++ b/deploy/dds_bridge/include/unitree/common/dds/dds_topic_channel.hpp
--- a/deploy/dds_bridge/include/unitree/common/dds/dds_traits.hpp
+++ b/deploy/dds_bridge/include/unitree/common/dds/dds_traits.hpp
--- a/deploy/dds_bridge/include/unitree/common/decl.hpp
+++ b/deploy/dds_bridge/include/unitree/common/decl.hpp
--- a/deploy/dds_bridge/include/unitree/common/error.hpp
+++ b/deploy/dds_bridge/include/unitree/common/error.hpp
--- a/deploy/dds_bridge/include/unitree/common/exception.hpp
+++ b/deploy/dds_bridge/include/unitree/common/exception.hpp
--- a/deploy/dds_bridge/include/unitree/common/filesystem/directory.hpp
+++ b/deploy/dds_bridge/include/unitree/common/filesystem/directory.hpp
--- a/deploy/dds_bridge/include/unitree/common/filesystem/file.hpp
+++ b/deploy/dds_bridge/include/unitree/common/filesystem/file.hpp
--- a/deploy/dds_bridge/include/unitree/common/filesystem/filesystem.hpp
+++ b/deploy/dds_bridge/include/unitree/common/filesystem/filesystem.hpp
--- a/deploy/dds_bridge/include/unitree/common/json/json.hpp
+++ b/deploy/dds_bridge/include/unitree/common/json/json.hpp
--- a/deploy/dds_bridge/include/unitree/common/json/json_config.hpp
+++ b/deploy/dds_bridge/include/unitree/common/json/json_config.hpp
--- a/deploy/dds_bridge/include/unitree/common/json/jsonize.hpp
+++ b/deploy/dds_bridge/include/unitree/common/json/jsonize.hpp
--- a/deploy/dds_bridge/include/unitree/common/lock/lock.hpp
+++ b/deploy/dds_bridge/include/unitree/common/lock/lock.hpp
--- a/deploy/dds_bridge/include/unitree/common/log/log.hpp
+++ b/deploy/dds_bridge/include/unitree/common/log/log.hpp
--- a/deploy/dds_bridge/include/unitree/common/log/log_buffer.hpp
+++ b/deploy/dds_bridge/include/unitree/common/log/log_buffer.hpp
--- a/deploy/dds_bridge/include/unitree/common/log/log_decl.hpp
+++ b/deploy/dds_bridge/include/unitree/common/log/log_decl.hpp
--- a/deploy/dds_bridge/include/unitree/common/log/log_initor.hpp
+++ b/deploy/dds_bridge/include/unitree/common/log/log_initor.hpp
--- a/deploy/dds_bridge/include/unitree/common/log/log_keeper.hpp
+++ b/deploy/dds_bridge/include/unitree/common/log/log_keeper.hpp
--- a/deploy/dds_bridge/include/unitree/common/log/log_logger.hpp
+++ b/deploy/dds_bridge/include/unitree/common/log/log_logger.hpp
--- a/deploy/dds_bridge/include/unitree/common/log/log_policy.hpp
+++ b/deploy/dds_bridge/include/unitree/common/log/log_policy.hpp
--- a/deploy/dds_bridge/include/unitree/common/log/log_store.hpp
+++ b/deploy/dds_bridge/include/unitree/common/log/log_store.hpp
--- a/deploy/dds_bridge/include/unitree/common/log/log_writer.hpp
+++ b/deploy/dds_bridge/include/unitree/common/log/log_writer.hpp
--- a/deploy/dds_bridge/include/unitree/common/os.hpp
+++ b/deploy/dds_bridge/include/unitree/common/os.hpp
--- a/deploy/dds_bridge/include/unitree/common/service/base/service_application.hpp
+++ b/deploy/dds_bridge/include/unitree/common/service/base/service_application.hpp
--- a/deploy/dds_bridge/include/unitree/common/service/base/service_base.hpp
+++ b/deploy/dds_bridge/include/unitree/common/service/base/service_base.hpp
--- a/deploy/dds_bridge/include/unitree/common/service/base/service_config.hpp
+++ b/deploy/dds_bridge/include/unitree/common/service/base/service_config.hpp
--- a/deploy/dds_bridge/include/unitree/common/service/base/service_decl.hpp
+++ b/deploy/dds_bridge/include/unitree/common/service/base/service_decl.hpp
--- a/deploy/dds_bridge/include/unitree/common/service/dds_service.hpp
+++ b/deploy/dds_bridge/include/unitree/common/service/dds_service.hpp
--- a/deploy/dds_bridge/include/unitree/common/socket/domain_socket.hpp
+++ b/deploy/dds_bridge/include/unitree/common/socket/domain_socket.hpp
--- a/deploy/dds_bridge/include/unitree/common/socket/socket.hpp
+++ b/deploy/dds_bridge/include/unitree/common/socket/socket.hpp
--- a/deploy/dds_bridge/include/unitree/common/string_tool.hpp
+++ b/deploy/dds_bridge/include/unitree/common/string_tool.hpp
--- a/deploy/dds_bridge/include/unitree/common/thread/future.hpp
+++ b/deploy/dds_bridge/include/unitree/common/thread/future.hpp
--- a/deploy/dds_bridge/include/unitree/common/thread/recurrent_thread.hpp
+++ b/deploy/dds_bridge/include/unitree/common/thread/recurrent_thread.hpp
--- a/deploy/dds_bridge/include/unitree/common/thread/thread.hpp
+++ b/deploy/dds_bridge/include/unitree/common/thread/thread.hpp
--- a/deploy/dds_bridge/include/unitree/common/thread/thread_decl.hpp
+++ b/deploy/dds_bridge/include/unitree/common/thread/thread_decl.hpp
--- a/deploy/dds_bridge/include/unitree/common/thread/thread_pool.hpp
+++ b/deploy/dds_bridge/include/unitree/common/thread/thread_pool.hpp
--- a/deploy/dds_bridge/include/unitree/common/thread/thread_task.hpp
+++ b/deploy/dds_bridge/include/unitree/common/thread/thread_task.hpp
--- a/deploy/dds_bridge/include/unitree/common/time/sleep.hpp
+++ b/deploy/dds_bridge/include/unitree/common/time/sleep.hpp
--- a/deploy/dds_bridge/include/unitree/common/time/time_tool.hpp
+++ b/deploy/dds_bridge/include/unitree/common/time/time_tool.hpp
--- a/deploy/dds_bridge/include/unitree/idl/go2/AudioData_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/go2/AudioData_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/go2/BmsCmd_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/go2/BmsCmd_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/go2/BmsState_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/go2/BmsState_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/go2/ConfigChangeStatus_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/go2/ConfigChangeStatus_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/go2/Error_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/go2/Error_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/go2/Go2FrontVideoData_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/go2/Go2FrontVideoData_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/go2/HeightMap_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/go2/HeightMap_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/go2/IMUState_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/go2/IMUState_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/go2/InterfaceConfig_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/go2/InterfaceConfig_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/go2/LidarState_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/go2/LidarState_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/go2/LowCmd_.cpp
+++ b/deploy/dds_bridge/include/unitree/idl/go2/LowCmd_.cpp
--- a/deploy/dds_bridge/include/unitree/idl/go2/LowCmd_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/go2/LowCmd_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/go2/LowState_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/go2/LowState_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/go2/MotorCmd_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/go2/MotorCmd_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/go2/MotorState_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/go2/MotorState_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/go2/PathPoint_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/go2/PathPoint_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/go2/Req_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/go2/Req_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/go2/Res_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/go2/Res_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/go2/SportModeCmd_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/go2/SportModeCmd_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/go2/SportModeState_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/go2/SportModeState_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/go2/TimeSpec_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/go2/TimeSpec_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/go2/UwbState_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/go2/UwbState_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/go2/UwbSwitch_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/go2/UwbSwitch_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/go2/WirelessController_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/go2/WirelessController_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/ros2/Header_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/ros2/Header_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/ros2/MapMetaData_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/ros2/MapMetaData_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/ros2/OccupancyGrid_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/ros2/OccupancyGrid_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/ros2/Odometry_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/ros2/Odometry_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/ros2/Point32_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/ros2/Point32_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/ros2/PointCloud2_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/ros2/PointCloud2_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/ros2/PointField_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/ros2/PointField_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/ros2/PointStamped_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/ros2/PointStamped_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/ros2/Point_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/ros2/Point_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/ros2/Pose2D_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/ros2/Pose2D_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/ros2/PoseStamped_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/ros2/PoseStamped_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/ros2/PoseWithCovarianceStamped_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/ros2/PoseWithCovarianceStamped_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/ros2/PoseWithCovariance_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/ros2/PoseWithCovariance_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/ros2/Pose_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/ros2/Pose_.hpp
--- a/deploy/dds_bridge/include/unitree/idl/ros2/QuaternionStamped_.hpp
+++ b/deploy/dds_bridge/include/unitree/idl/ros2/QuaternionStamped_.hpp
--- a/Show More
+++ b/Show More