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Revert "set up joystick" 

This reverts commit 631af97b77.
This commit is contained in:
LuoBin 2025-03-12 13:15:46 +08:00
parent c36a2acf98
commit 57fc6b6308
2 changed files with 2 additions and 3 deletions
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3
simulate/src/unitree_sdk2_bridge/unitree_sdk2_bridge.cc
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@ -3,7 +3,6 @@
UnitreeSdk2Bridge::UnitreeSdk2Bridge(mjModel *model, mjData *data) : mj_model_(model), mj_data_(data) UnitreeSdk2Bridge::UnitreeSdk2Bridge(mjModel *model, mjData *data) : mj_model_(model), mj_data_(data)
{ {
CheckSensor(); CheckSensor();
SetupJoystick();
if (idl_type_ == 0) if (idl_type_ == 0)
{ {
@ -387,4 +386,4 @@ void UnitreeSdk2Bridge::GetWirelessRemote()
wireless_remote_.ly = -double(js_->axis_[js_id_.axis["LY"]]) / max_value_; wireless_remote_.ly = -double(js_->axis_[js_id_.axis["LY"]]) / max_value_;
wireless_remote_.rx = double(js_->axis_[js_id_.axis["RX"]]) / max_value_; wireless_remote_.rx = double(js_->axis_[js_id_.axis["RX"]]) / max_value_;
wireless_remote_.ry = -double(js_->axis_[js_id_.axis["RY"]]) / max_value_; wireless_remote_.ry = -double(js_->axis_[js_id_.axis["RY"]]) / max_value_;
} }

2
simulate/src/unitree_sdk2_bridge/unitree_sdk2_bridge.h
View File

@ -110,7 +110,7 @@ public:
void Run(); void Run();
void PrintSceneInformation(); void PrintSceneInformation();
void CheckSensor(); void CheckSensor();
void SetupJoystick(string device = "/dev/input/js0", string js_type = "xbox", int bits = 16); void SetupJoystick(string device, string js_type, int bits);
ChannelSubscriberPtr<unitree_go::msg::dds_::LowCmd_> low_cmd_go_suber_; ChannelSubscriberPtr<unitree_go::msg::dds_::LowCmd_> low_cmd_go_suber_;
ChannelSubscriberPtr<unitree_hg::msg::dds_::LowCmd_> low_cmd_hg_suber_; ChannelSubscriberPtr<unitree_hg::msg::dds_::LowCmd_> low_cmd_hg_suber_;