From 60be274a9e618d85b9d981b8271ceac2252a9cc7 Mon Sep 17 00:00:00 2001 From: fan-ziqi Date: Mon, 18 Mar 2024 14:53:31 +0800 Subject: [PATCH] docs: add physical deploment --- README.md | 9 +++++++-- README_CN.md | 7 ++++++- 2 files changed, 13 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 2117ad4..ad6a78b 100644 --- a/README.md +++ b/README.md @@ -78,11 +78,16 @@ rosrun teleop_twist_keyboard teleop_twist_keyboard.py ### Physical Deployment -Open a new terminal, run the control program +The connection to the physical robot can be done in both wireless and wired forms. + +- Wireless: Connect to the WIFI starting with "Unitree" emitted by the robot **(Note: Wireless connection may experience packet loss, disconnection, or even loss of control, please pay attention to safety)** +- Wired: Use an Ethernet cable to connect any port on the computer to the robot, configure the computer's IP as 192.168.123.162, and the gateway as 255.255.255.0. + +Create a new terminal and launch the control program. ```bash source devel/setup.bash rosrun rl_sar rl_real ``` -> Some code references: https://github.com/mertgungor/unitree_model_control \ No newline at end of file +Press the **R2** button on the remote control to switch the robot to the default standing posture, press **R1** to switch to RL control mode, and press **L2** in any state to switch back to the initial lying posture. The left joystick controls x-axis up and down, controls yaw left and right, and the right joystick controls y-axis left and right. \ No newline at end of file diff --git a/README_CN.md b/README_CN.md index 92e857b..8ff31e9 100644 --- a/README_CN.md +++ b/README_CN.md @@ -78,6 +78,11 @@ rosrun teleop_twist_keyboard teleop_twist_keyboard.py ### 实物 +与实物的连接可分为无线与有线形式 + +* 无线：连接机器人发出的Unitree开头的WIFI **（注意：无线连接可能会出现丢包断联甚至失控，请注意安全）** +* 有线：用网线连接计算机和机器人的任意网口，配置计算机ip为192.168.123.162，网关255.255.255.0 + 新建终端，启动控制程序 ```bash @@ -85,4 +90,4 @@ source devel/setup.bash rosrun rl_sar rl_real ``` -> 部分代码参考https://github.com/mertgungor/unitree_model_control +按下遥控器的**R2**键让机器人切换到默认站起姿态，按下**R1**键切换到RL控制模式，任意状态按下**L2**切换到最初的趴下姿态。左摇杆上下控制x左右控制yaw，右摇杆左右控制y。