add all TODO-devel-go2

CONTRIBUTORS.md

@@ -16,6 +16,6 @@ Guidelines for modifications:
 
 ## Contributors
 
-TODO add your name
+TODO-devel-go2 add your name
 
 ## Acknowledgements

README.md

@@ -128,7 +128,7 @@ Or press **0** on the keyboard to switch the robot to the default standing posit
 
 #### Unitree Go2
 
-TODO 添加go2的使用说明
+TODO-devel-go2 添加go2的使用说明
 
 Open a new terminal and start the control program
 

README_CN.md

@@ -129,7 +129,7 @@ rosrun rl_sar rl_real_a1
 
 #### Unitree Go2
 
-TODO 添加go2的使用说明
+TODO-devel-go2 添加go2的使用说明
 
 新建终端，启动控制程序
 

src/rl_sar/include/rl_real_go2.hpp

@@ -4,14 +4,14 @@
 #include "rl_sdk.hpp"
 #include "observation_buffer.hpp"
 #include "loop.hpp"
-#include <unitree/robot/channel/channel_publisher.hpp> // TODO go2的sdk没有传上来
+#include <unitree/robot/channel/channel_publisher.hpp> // TODO-devel-go2 go2的sdk没有传上来
 #include <unitree/robot/channel/channel_subscriber.hpp>
 #include <unitree/idl/go2/LowState_.hpp>
 #include <unitree/idl/go2/LowCmd_.hpp>
 #include <unitree/common/time/time_tool.hpp>
 #include <unitree/common/thread/thread.hpp>
 #include <unitree/robot/go2/robot_state/robot_state_client.hpp>
-#include "unitree_joystick.h" // TODO 这里调用的是a1的，go2有自己的键盘接口吗
+#include "unitree_joystick.h" // TODO-devel-go2 这里调用的是a1的，go2有自己的键盘接口吗
 #include <csignal>
 
 #include "matplotlibcpp.h"

src/rl_sar/src/rl_real_go2.cpp

@@ -29,7 +29,7 @@ void RL_Real::RL_Real()
     // create subscriber
     lowstate_subscriber.reset(new ChannelSubscriber<unitree_go::msg::dds_::LowState_>(TOPIC_LOWSTATE));
     lowstate_subscriber->InitChannel(std::bind(&RL_Real::LowStateMessageHandler, this, std::placeholders::_1), 1);
-    // loop publishing thread TODO why?
+    // loop publishing thread TODO-devel-go2 why?
     // lowCmdWriteThreadPtr = CreateRecurrentThreadEx("writebasiccmd", UT_CPU_ID_NONE, 2000, &RL_Real::LowCmdwriteHandler, this);
 
     // init rl
@@ -78,7 +78,7 @@ RL_Real::~RL_Real()
 
 void RL_Real::GetState(RobotState<double> *state)
 {
-    // TODO 加锁
+    // TODO-devel-mutex 加锁
     memcpy(&this->unitree_joy, &this->unitree_low_state.wireless_remote()[0], 40);
 
     if ((int)this->unitree_joy.btn.components.R2 == 1)
@@ -133,7 +133,7 @@ void RL_Real::SetCommand(const RobotCommand<double> *command)
         this->unitree_low_command.motor_cmd()[i].tau() = command->motor_command.tau[command_mapping[i]];
     }
 
-    // 暂时不发 TODO Why?
+    // 暂时不发 TODO-devel-go2 Why?
     this->unitree_low_command.crc() = Crc32Core((uint32_t *)&unitree_low_command, (sizeof(unitree_go::msg::dds_::LowCmd_) >> 2) - 1);
     lowcmd_publisher->Write(unitree_low_command);
 }

src/rl_sar/src/rl_sim.cpp

@@ -252,7 +252,7 @@ torch::Tensor RL_Sim::Forward()
     if (this->params.use_history)
     {
         this->history_obs_buf.insert(clamped_obs);
-        // TODO 这里要找一种方法适配不同的顺序，不能直接改这里，会导致a1的模型不可用
+        // TODO-devel-go2 这里要找一种方法适配不同的顺序，不能直接改这里，会导致a1的模型不可用
         this->history_obs = this->history_obs_buf.get_obs_vec({5, 4, 3, 2, 1, 0});
         actions = this->model.forward({this->history_obs}).toTensor();
     }