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fix: clear up

This commit is contained in:
fan-ziqi 2024-03-14 12:42:39 +08:00
parent bef47f7f71
commit 2794537724
8 changed files with 9 additions and 196 deletions
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6
src/unitree_rl/CMakeLists.txt
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@ -28,8 +28,6 @@ catkin_package(
include_directories(library/unitree_legged_sdk_3.2/include)
link_directories(library/unitree_legged_sdk_3.2/lib)
set(EXTRA_LIBS -pthread libunitree_legged_sdk_amd64.so lcm)
add_executable(lcm_server $ENV{UNITREE_LEGGED_SDK_PATH}/examples/lcm_server.cpp)
target_link_libraries(lcm_server ${EXTRA_LIBS} ${catkin_LIBRARIES})
include_directories(
include
@ -41,11 +39,11 @@ include_directories(
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
add_library(model lib/model.cpp lib/model.hpp)
add_library(model library/model/model.cpp library/model/model.hpp)
target_link_libraries(model "${TORCH_LIBRARIES}")
set_property(TARGET model PROPERTY CXX_STANDARD 14)
add_library(observation_buffer lib/observation_buffer.cpp lib/observation_buffer.hpp)
add_library(observation_buffer library/observation_buffer/observation_buffer.cpp library/observation_buffer/observation_buffer.hpp)
target_link_libraries(observation_buffer "${TORCH_LIBRARIES}")
set_property(TARGET observation_buffer PROPERTY CXX_STANDARD 14)

187
src/unitree_rl/include/convert.h
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@ -1,187 +0,0 @@
/************************************************************************
Copyright (c) 2018-2019, Unitree Robotics.Co.Ltd. All rights reserved.
Use of this source code is governed by the MPL-2.0 license, see LICENSE.
************************************************************************/
#ifndef _CONVERT_H_
#define _CONVERT_H_
#include <unitree_legged_msgs/LowCmd.h>
#include <unitree_legged_msgs/LowState.h>
#include <unitree_legged_msgs/HighCmd.h>
#include <unitree_legged_msgs/HighState.h>
#include <unitree_legged_msgs/MotorCmd.h>
#include <unitree_legged_msgs/MotorState.h>
#include <unitree_legged_msgs/IMU.h>
#include "unitree_legged_sdk/unitree_legged_sdk.h"
unitree_legged_msgs::IMU ToRos(UNITREE_LEGGED_SDK::IMU& lcm)
{
unitree_legged_msgs::IMU ros;
ros.quaternion[0] = lcm.quaternion[0];
ros.quaternion[1] = lcm.quaternion[1];
ros.quaternion[2] = lcm.quaternion[2];
ros.quaternion[3] = lcm.quaternion[3];
ros.gyroscope[0] = lcm.gyroscope[0];
ros.gyroscope[1] = lcm.gyroscope[1];
ros.gyroscope[2] = lcm.gyroscope[2];
ros.accelerometer[0] = lcm.accelerometer[0];
ros.accelerometer[1] = lcm.accelerometer[1];
ros.accelerometer[2] = lcm.accelerometer[2];
// ros.rpy[0] = lcm.rpy[0];
// ros.rpy[1] = lcm.rpy[1];
// ros.rpy[2] = lcm.rpy[2];
ros.temperature = lcm.temperature;
return ros;
}
unitree_legged_msgs::MotorState ToRos(UNITREE_LEGGED_SDK::MotorState& lcm)
{
unitree_legged_msgs::MotorState ros;
ros.mode = lcm.mode;
ros.q = lcm.q;
ros.dq = lcm.dq;
ros.ddq = lcm.ddq;
ros.tauEst = lcm.tauEst;
ros.q_raw = lcm.q_raw;
ros.dq_raw = lcm.dq_raw;
ros.ddq_raw = lcm.ddq_raw;
ros.temperature = lcm.temperature;
ros.reserve[0] = lcm.reserve[0];
ros.reserve[1] = lcm.reserve[1];
return ros;
}
UNITREE_LEGGED_SDK::MotorCmd ToLcm(unitree_legged_msgs::MotorCmd& ros, UNITREE_LEGGED_SDK::MotorCmd lcmType)
{
UNITREE_LEGGED_SDK::MotorCmd lcm;
lcm.mode = ros.mode;
lcm.q = ros.q;
lcm.dq = ros.dq;
lcm.tau = ros.tau;
lcm.Kp = ros.Kp;
lcm.Kd = ros.Kd;
lcm.reserve[0] = ros.reserve[0];
lcm.reserve[1] = ros.reserve[1];
lcm.reserve[2] = ros.reserve[2];
return lcm;
}
unitree_legged_msgs::LowState ToRos(UNITREE_LEGGED_SDK::LowState& lcm)
{
unitree_legged_msgs::LowState ros;
ros.levelFlag = lcm.levelFlag;
ros.commVersion = lcm.commVersion;
ros.robotID = lcm.robotID;
ros.SN = lcm.SN;
ros.bandWidth = lcm.bandWidth;
ros.imu = ToRos(lcm.imu);
for(int i = 0; i<20; i++){
ros.motorState[i] = ToRos(lcm.motorState[i]);
}
for(int i = 0; i<4; i++){
ros.footForce[i] = lcm.footForce[i];
ros.footForceEst[i] = lcm.footForceEst[i];
}
ros.tick = lcm.tick;
for(int i = 0; i<40; i++){
ros.wirelessRemote[i] = lcm.wirelessRemote[i];
}
ros.reserve = lcm.reserve;
ros.crc = lcm.crc;
return ros;
}
UNITREE_LEGGED_SDK::LowCmd ToLcm(unitree_legged_msgs::LowCmd& ros, UNITREE_LEGGED_SDK::LowCmd lcmType)
{
UNITREE_LEGGED_SDK::LowCmd lcm;
lcm.levelFlag = ros.levelFlag;
lcm.commVersion = ros.commVersion;
lcm.robotID = ros.robotID;
lcm.SN = ros.SN;
lcm.bandWidth = ros.bandWidth;
for(int i = 0; i<20; i++){
lcm.motorCmd[i] = ToLcm(ros.motorCmd[i], lcm.motorCmd[i]);
}
for(int i = 0; i<4; i++){
lcm.led[i].r = ros.led[i].r;
lcm.led[i].g = ros.led[i].g;
lcm.led[i].b = ros.led[i].b;
}
for(int i = 0; i<40; i++){
lcm.wirelessRemote[i] = ros.wirelessRemote[i];
}
lcm.reserve = ros.reserve;
lcm.crc = ros.crc;
return lcm;
}
unitree_legged_msgs::HighState ToRos(UNITREE_LEGGED_SDK::HighState& lcm)
{
unitree_legged_msgs::HighState ros;
ros.levelFlag = lcm.levelFlag;
ros.commVersion = lcm.commVersion;
ros.robotID = lcm.robotID;
ros.SN = lcm.SN;
ros.bandWidth = lcm.bandWidth;
ros.mode = lcm.mode;
ros.imu = ToRos(lcm.imu);
ros.forwardSpeed = lcm.forwardSpeed;
ros.sideSpeed = lcm.sideSpeed;
ros.rotateSpeed = lcm.rotateSpeed;
ros.bodyHeight = lcm.bodyHeight;
ros.updownSpeed = lcm.updownSpeed;
ros.forwardPosition = lcm.forwardPosition;
ros.sidePosition = lcm.sidePosition;
for(int i = 0; i<4; i++){
ros.footPosition2Body[i].x = lcm.footPosition2Body[i].x;
ros.footPosition2Body[i].y = lcm.footPosition2Body[i].y;
ros.footPosition2Body[i].z = lcm.footPosition2Body[i].z;
ros.footSpeed2Body[i].x = lcm.footSpeed2Body[i].x;
ros.footSpeed2Body[i].y = lcm.footSpeed2Body[i].y;
ros.footSpeed2Body[i].z = lcm.footSpeed2Body[i].z;
ros.footForce[i] = lcm.footForce[i];
ros.footForceEst[i] = lcm.footForceEst[i];
}
ros.tick = lcm.tick;
for(int i = 0; i<40; i++){
ros.wirelessRemote[i] = lcm.wirelessRemote[i];
}
ros.reserve = lcm.reserve;
ros.crc = lcm.crc;
return ros;
}
UNITREE_LEGGED_SDK::HighCmd ToLcm(unitree_legged_msgs::HighCmd& ros, UNITREE_LEGGED_SDK::HighCmd lcmType)
{
UNITREE_LEGGED_SDK::HighCmd lcm;
lcm.levelFlag = ros.levelFlag;
lcm.commVersion = ros.commVersion;
lcm.robotID = ros.robotID;
lcm.SN = ros.SN;
lcm.bandWidth = ros.bandWidth;
lcm.mode = ros.mode;
lcm.forwardSpeed = ros.forwardSpeed;
lcm.sideSpeed = ros.sideSpeed;
lcm.rotateSpeed = ros.rotateSpeed;
lcm.bodyHeight = ros.bodyHeight;
lcm.footRaiseHeight = ros.footRaiseHeight;
lcm.yaw = ros.yaw;
lcm.pitch = ros.pitch;
lcm.roll = ros.roll;
for(int i = 0; i<4; i++){
lcm.led[i].r = ros.led[i].r;
lcm.led[i].g = ros.led[i].g;
lcm.led[i].b = ros.led[i].b;
}
for(int i = 0; i<40; i++){
lcm.wirelessRemote[i] = ros.wirelessRemote[i];
lcm.AppRemote[i] = ros.AppRemote[i];
}
lcm.reserve = ros.reserve;
lcm.crc = ros.crc;
return lcm;
}
#endif // _CONVERT_H_

4
src/unitree_rl/include/unitree_rl.hpp
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@ -5,8 +5,8 @@
#include <gazebo_msgs/ModelStates.h>
#include <sensor_msgs/JointState.h>
#include <geometry_msgs/Twist.h>
#include "../lib/model.cpp"
#include "../lib/observation_buffer.hpp"
#include "../library/model/model.hpp"
#include "../library/observation_buffer/observation_buffer.hpp"
#include "unitree_legged_msgs/MotorCmd.h"
class Unitree_RL : public Model

8
src/unitree_rl/include/unitree_rl_real.hpp
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@ -5,11 +5,13 @@
#include <gazebo_msgs/ModelStates.h>
#include <sensor_msgs/JointState.h>
#include <geometry_msgs/Twist.h>
#include "../lib/model.cpp"
#include "../lib/observation_buffer.hpp"
#include "../library/model/model.hpp"
#include "../library/observation_buffer/observation_buffer.hpp"
#include <unitree_legged_msgs/LowCmd.h>
#include "unitree_legged_msgs/LowState.h"
#include "convert.h"
#include <unitree_legged_msgs/MotorCmd.h>
#include <unitree_legged_msgs/MotorState.h>
#include "unitree_legged_sdk/unitree_legged_sdk.h"
#include <pthread.h>
using namespace UNITREE_LEGGED_SDK;

0
src/unitree_rl/lib/model.cpp → src/unitree_rl/library/model/model.cpp
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0
src/unitree_rl/lib/model.hpp → src/unitree_rl/library/model/model.hpp
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0
src/unitree_rl/lib/observation_buffer.cpp → src/unitree_rl/library/observation_buffer/observation_buffer.cpp
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0
src/unitree_rl/lib/observation_buffer.hpp → src/unitree_rl/library/observation_buffer/observation_buffer.hpp
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