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unitree_ros
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can compile on Tx2 or NX

This commit is contained in:
Bian Zekun 2021-06-18 10:19:59 +08:00
parent 86bbde30ee
commit 86672560ff
7 changed files with 237 additions and 213 deletions
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18
README.md
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@ -15,11 +15,14 @@ Real robot control related: `unitree_legged_real`
# Dependencies
* [ROS](https://www.ros.org/) melodic or ROS kinetic(has not been tested)
* [Gazebo8](http://gazebosim.org/)
* [unitree_legged_sdk](https://github.com/unitreerobotics)
* [aliengo_sdk](https://github.com/unitreerobotics)
* [unitree_legged_sdk](https://github.com/unitreerobotics): If your robot is suitable for `unitree_legged_sdk`, then you do not need `aliengo_sdk`.
* [aliengo_sdk](https://github.com/unitreerobotics): If your robot is suitable for `aliengo_sdk`, then you do not need `unitree_legged_sdk`.
# Configuration
Make sure the following exist in your `~/.bashrc` file or export them in terminal. `melodic`, `gazebo-8`, `~/catkin_ws`, `amd64` and the paths to `unitree_legged_sdk` should be replaced in your own case.
If your use `unitree_legged_sdk`, then you need to set `UNITREE_SDK_VERSION=3_2` and the path `UNITREE_LEGGED_SDK_PATH`.
Otherwise, if you use `aliengo_sdk`, you need to set `UNITREE_SDK_VERSION=3_1` and the path `ALIENGO_SDK_PATH`.
```
source /opt/ros/melodic/setup.bash
source /usr/share/gazebo-8/setup.sh
@ -27,14 +30,18 @@ source ~/catkin_ws/devel/setup.bash
export ROS_PACKAGE_PATH=~/catkin_ws:${ROS_PACKAGE_PATH}
export GAZEBO_PLUGIN_PATH=~/catkin_ws/devel/lib:${GAZEBO_PLUGIN_PATH}
export LD_LIBRARY_PATH=~/catkin_ws/devel/lib:${LD_LIBRARY_PATH}
# 3_1, 3_2
export UNITREE_SDK_VERSION=3_2
export UNITREE_LEGGED_SDK_PATH=~/unitree_legged_sdk
export ALIENGO_SDK_PATH=~/aliengo_sdk
#amd64, arm32, arm64
# amd64, arm32, arm64
export UNITREE_PLATFORM="amd64"
```
# Build
Please run the following command to install relative packages.
If you just need to send message from the ROS on robot's NX or TX2, you can just copy `unitree_legged_msgs` and `unitree_legged_real` to `catkin_ws/src` folder and run `catkin_make` to compile.
If you would like to fully compile the `unitree_ros`, please run the following command to install relative packages.
If your ROS is melodic:
```
@ -61,6 +68,7 @@ catkin_make
If you face a dependency problem, you can just run `catkin_make` again.
# Detail of Packages
## unitree_legged_control:
It contains the joints controllers for Gazebo simulation, which allows user to control joints with position, velocity and torque.
@ -148,4 +156,4 @@ torque_lcm
```
The `velocity_lcm` and `torque_lcm` have to run under root account too. Please use the same method as runing `real_launch`.
And when you run the high level controller, please make sure the robot is standing on the ground. The high level only has `walk_lcm`.
And when you run the high level controller, please make sure the robot is standing on the ground. The high level only has `walk_lcm`.

51
unitree_legged_real/CMakeLists.txt Normal file → Executable file
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@ -4,34 +4,46 @@ project(unitree_legged_real)
add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
controller_manager
roscpp
tf
geometry_msgs
unitree_legged_msgs
)
find_package(Eigen3 REQUIRED)
catkin_package(
)
catkin_package()
include_directories(
include
${Boost_INCLUDE_DIR}
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
$ENV{UNITREE_LEGGED_SDK_PATH}/include
$ENV{ALIENGO_SDK_PATH}/include
)
link_directories($ENV{UNITREE_LEGGED_SDK_PATH}/lib)
link_directories($ENV{ALIENGO_SDK_PATH}/lib)
string(CONCAT LEGGED_SDK_NAME libunitree_legged_sdk_$ENV{UNITREE_PLATFORM}.so)
set(EXTRA_LIBS ${LEGGED_SDK_NAME} libaliengo_comm.so lcm)
set(CMAKE_CXX_FLAGS "-O3")
if( $ENV{UNITREE_SDK_VERSION} STREQUAL "3_1")
include_directories($ENV{ALIENGO_SDK_PATH}/include)
link_directories($ENV{ALIENGO_SDK_PATH}/lib)
string(CONCAT LEGGED_SDK_NAME libaliengo_comm.so)
set(EXTRA_LIBS ${LEGGED_SDK_NAME} lcm)
add_definitions(-DSDK3_1)
add_executable(lcm_server_3_1 $ENV{ALIENGO_SDK_PATH}/examples/lcm_server.cpp)
target_link_libraries(lcm_server_3_1 ${EXTRA_LIBS} ${catkin_LIBRARIES})
add_dependencies(lcm_server_3_1 ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
elseif( $ENV{UNITREE_SDK_VERSION} STREQUAL "3_2")
include_directories($ENV{UNITREE_LEGGED_SDK_PATH}/include)
link_directories($ENV{UNITREE_LEGGED_SDK_PATH}/lib)
string(CONCAT LEGGED_SDK_NAME libunitree_legged_sdk_$ENV{UNITREE_PLATFORM}.so)
set(EXTRA_LIBS ${LEGGED_SDK_NAME} lcm)
add_definitions(-DSDK3_2)
add_executable(lcm_server_3_2 $ENV{UNITREE_LEGGED_SDK_PATH}/examples/lcm_server.cpp)
target_link_libraries(lcm_server_3_2 ${EXTRA_LIBS} ${catkin_LIBRARIES})
add_dependencies(lcm_server_3_2 ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
endif()
add_executable(position_lcm src/exe/position_mode.cpp)
target_link_libraries(position_lcm ${EXTRA_LIBS} ${catkin_LIBRARIES})
add_dependencies(position_lcm ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
@ -46,13 +58,4 @@ add_dependencies(torque_lcm ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTE
add_executable(walk_lcm src/exe/walk_mode.cpp)
target_link_libraries(walk_lcm ${EXTRA_LIBS} ${catkin_LIBRARIES})
add_dependencies(walk_lcm ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(lcm_server_3_2 $ENV{UNITREE_LEGGED_SDK_PATH}/examples/lcm_server.cpp)
target_link_libraries(lcm_server_3_2 ${EXTRA_LIBS} ${catkin_LIBRARIES})
add_dependencies(lcm_server_3_2 ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(lcm_server_3_1 $ENV{ALIENGO_SDK_PATH}/examples/lcm_server.cpp)
target_link_libraries(lcm_server_3_1 ${EXTRA_LIBS} ${catkin_LIBRARIES})
add_dependencies(lcm_server_3_1 ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(walk_lcm ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

307
unitree_legged_real/include/convert.h Normal file → Executable file
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@ -6,7 +6,6 @@ Use of this source code is governed by the MPL-2.0 license, see LICENSE.
#ifndef _CONVERT_H_
#define _CONVERT_H_
#include "unitree_legged_sdk/unitree_legged_sdk.h"
#include <unitree_legged_msgs/LowCmd.h>
#include <unitree_legged_msgs/LowState.h>
#include <unitree_legged_msgs/HighCmd.h>
@ -14,12 +13,158 @@ Use of this source code is governed by the MPL-2.0 license, see LICENSE.
#include <unitree_legged_msgs/MotorCmd.h>
#include <unitree_legged_msgs/MotorState.h>
#include <unitree_legged_msgs/IMU.h>
#ifdef SDK3_1
#include "aliengo_sdk/aliengo_sdk.hpp"
enum firmworkVersion{
V3_1,
V3_2
};
unitree_legged_msgs::IMU ToRos(aliengo::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.acceleration[0];
ros.accelerometer[1] = lcm.acceleration[1];
ros.accelerometer[2] = lcm.acceleration[2];
// ros.rpy[0] = lcm.rpy[0];
// ros.rpy[1] = lcm.rpy[1];
// ros.rpy[2] = lcm.rpy[2];
ros.temperature = lcm.temp;
return ros;
}
unitree_legged_msgs::MotorState ToRos(aliengo::MotorState& lcm){
unitree_legged_msgs::MotorState ros;
ros.mode = lcm.mode;
ros.q = lcm.position;
ros.dq = lcm.velocity;
ros.ddq = 0;
ros.tauEst = lcm.torque;
ros.q_raw = 0;
ros.dq_raw = 0;
ros.ddq_raw = 0;
ros.temperature = lcm.temperature;
return ros;
}
aliengo::MotorCmd ToLcm(unitree_legged_msgs::MotorCmd& ros, aliengo::MotorCmd lcmType){
aliengo::MotorCmd lcm;
lcm.mode = ros.mode;
lcm.position = ros.q;
lcm.velocity = ros.dq;
lcm.positionStiffness = ros.Kp;
lcm.velocityStiffness = ros.Kd;
lcm.torque = ros.tau;
return lcm;
}
unitree_legged_msgs::LowState ToRos(aliengo::LowState& lcm){
unitree_legged_msgs::LowState ros;
ros.levelFlag = lcm.levelFlag;
ros.commVersion = 0;
ros.robotID = 0;
ros.SN = 0;
ros.bandWidth = 0;
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] = 0;
}
ros.tick = lcm.tick;
for(int i = 0; i < 40; i++){
ros.wirelessRemote[i] = lcm.wirelessRemote[i];
}
ros.crc = lcm.crc;
return ros;
}
aliengo::LowCmd ToLcm(unitree_legged_msgs::LowCmd& ros, aliengo::LowCmd lcmType){
aliengo::LowCmd lcm;
lcm.levelFlag = ros.levelFlag;
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.crc = ros.crc;
return lcm;
}
unitree_legged_msgs::HighState ToRos(aliengo::HighState& lcm){
unitree_legged_msgs::HighState ros;
ros.levelFlag = lcm.levelFlag;
ros.commVersion = 0;
ros.robotID = 0;
ros.SN = 0;
ros.bandWidth = 0;
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.x;
ros.sidePosition = lcm.sidePosition.y;
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] = 0;
}
ros.tick = lcm.tick;
for(int i = 0; i<40; i++){
ros.wirelessRemote[i] = lcm.wirelessRemote[i];
}
ros.reserve = 0;
ros.crc = lcm.crc;
return ros;
}
aliengo::HighCmd ToLcm(unitree_legged_msgs::HighCmd& ros, aliengo::HighCmd lcmType){
aliengo::HighCmd lcm;
lcm.levelFlag = ros.levelFlag;
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.crc = ros.crc;
return lcm;
}
#endif
#ifdef SDK3_2
#include "unitree_legged_sdk/unitree_legged_sdk.h"
unitree_legged_msgs::IMU ToRos(UNITREE_LEGGED_SDK::IMU& lcm)
{
@ -41,25 +186,6 @@ unitree_legged_msgs::IMU ToRos(UNITREE_LEGGED_SDK::IMU& lcm)
return ros;
}
unitree_legged_msgs::IMU ToRos(aliengo::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.acceleration[0];
ros.accelerometer[1] = lcm.acceleration[1];
ros.accelerometer[2] = lcm.acceleration[2];
// ros.rpy[0] = lcm.rpy[0];
// ros.rpy[1] = lcm.rpy[1];
// ros.rpy[2] = lcm.rpy[2];
ros.temperature = lcm.temp;
return ros;
}
unitree_legged_msgs::MotorState ToRos(UNITREE_LEGGED_SDK::MotorState& lcm)
{
unitree_legged_msgs::MotorState ros;
@ -77,23 +203,6 @@ unitree_legged_msgs::MotorState ToRos(UNITREE_LEGGED_SDK::MotorState& lcm)
return ros;
}
unitree_legged_msgs::MotorState ToRos(aliengo::MotorState& lcm){
unitree_legged_msgs::MotorState ros;
ros.mode = lcm.mode;
ros.q = lcm.position;
ros.dq = lcm.velocity;
ros.ddq = 0;
ros.tauEst = lcm.torque;
ros.q_raw = 0;
ros.dq_raw = 0;
ros.ddq_raw = 0;
ros.temperature = lcm.temperature;
// printf("dq: %f\n", lcm.velocity);
return ros;
}
UNITREE_LEGGED_SDK::MotorCmd ToLcm(unitree_legged_msgs::MotorCmd& ros, UNITREE_LEGGED_SDK::MotorCmd lcmType)
{
UNITREE_LEGGED_SDK::MotorCmd lcm;
@ -109,17 +218,6 @@ UNITREE_LEGGED_SDK::MotorCmd ToLcm(unitree_legged_msgs::MotorCmd& ros, UNITREE_L
return lcm;
}
aliengo::MotorCmd ToLcm(unitree_legged_msgs::MotorCmd& ros, aliengo::MotorCmd lcmType){
aliengo::MotorCmd lcm;
lcm.mode = ros.mode;
lcm.position = ros.q;
lcm.velocity = ros.dq;
lcm.positionStiffness = ros.Kp;
lcm.velocityStiffness = ros.Kd;
lcm.torque = ros.tau;
return lcm;
}
unitree_legged_msgs::LowState ToRos(UNITREE_LEGGED_SDK::LowState& lcm)
{
unitree_legged_msgs::LowState ros;
@ -145,30 +243,6 @@ unitree_legged_msgs::LowState ToRos(UNITREE_LEGGED_SDK::LowState& lcm)
return ros;
}
unitree_legged_msgs::LowState ToRos(aliengo::LowState& lcm){
unitree_legged_msgs::LowState ros;
ros.levelFlag = lcm.levelFlag;
ros.commVersion = 0;
ros.robotID = 0;
ros.SN = 0;
ros.bandWidth = 0;
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] = 0;
}
ros.tick = lcm.tick;
for(int i = 0; i < 40; i++){
ros.wirelessRemote[i] = lcm.wirelessRemote[i];
}
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;
@ -193,24 +267,6 @@ UNITREE_LEGGED_SDK::LowCmd ToLcm(unitree_legged_msgs::LowCmd& ros, UNITREE_LEGGE
return lcm;
}
aliengo::LowCmd ToLcm(unitree_legged_msgs::LowCmd& ros, aliengo::LowCmd lcmType){
aliengo::LowCmd lcm;
lcm.levelFlag = ros.levelFlag;
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.crc = ros.crc;
return lcm;
}
unitree_legged_msgs::HighState ToRos(UNITREE_LEGGED_SDK::HighState& lcm)
{
unitree_legged_msgs::HighState ros;
@ -247,41 +303,6 @@ unitree_legged_msgs::HighState ToRos(UNITREE_LEGGED_SDK::HighState& lcm)
return ros;
}
unitree_legged_msgs::HighState ToRos(aliengo::HighState& lcm){
unitree_legged_msgs::HighState ros;
ros.levelFlag = lcm.levelFlag;
ros.commVersion = 0;
ros.robotID = 0;
ros.SN = 0;
ros.bandWidth = 0;
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.x;
ros.sidePosition = lcm.sidePosition.y;
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] = 0;
}
ros.tick = lcm.tick;
for(int i = 0; i<40; i++){
ros.wirelessRemote[i] = lcm.wirelessRemote[i];
}
ros.reserve = 0;
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;
@ -312,30 +333,6 @@ UNITREE_LEGGED_SDK::HighCmd ToLcm(unitree_legged_msgs::HighCmd& ros, UNITREE_LEG
lcm.crc = ros.crc;
return lcm;
}
#endif
aliengo::HighCmd ToLcm(unitree_legged_msgs::HighCmd& ros, aliengo::HighCmd lcmType){
aliengo::HighCmd lcm;
lcm.levelFlag = ros.levelFlag;
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.crc = ros.crc;
return lcm;
}
#endif
#endif // _CONVERT_H_

18
unitree_legged_real/src/exe/position_mode.cpp Normal file → Executable file
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@ -10,11 +10,14 @@ Use of this source code is governed by the MPL-2.0 license, see LICENSE.
#include <boost/thread/mutex.hpp>
#include <unitree_legged_msgs/LowCmd.h>
#include <unitree_legged_msgs/LowState.h>
#include "unitree_legged_sdk/unitree_legged_sdk.h"
#include "aliengo_sdk/aliengo_sdk.hpp"
#include "convert.h"
#ifdef SDK3_1
using namespace aliengo;
#endif
#ifdef SDK3_2
using namespace UNITREE_LEGGED_SDK;
#endif
template<typename TLCM>
void* update_loop(void* param)
@ -164,12 +167,13 @@ int main(int argc, char *argv[]){
std::string firmwork;
ros::param::get("/firmwork", firmwork);
if(firmwork == "3_1"){
#ifdef SDK3_1
aliengo::Control control(aliengo::LOWLEVEL);
aliengo::LCM roslcm;
mainHelper<aliengo::LowCmd, aliengo::LowState, aliengo::LCM>(argc, argv, roslcm);
}
else if(firmwork == "3_2"){
#endif
#ifdef SDK3_2
std::string robot_name;
UNITREE_LEGGED_SDK::LeggedType rname;
ros::param::get("/robot_name", robot_name);
@ -179,8 +183,8 @@ int main(int argc, char *argv[]){
rname = UNITREE_LEGGED_SDK::LeggedType::Aliengo;
// UNITREE_LEGGED_SDK::Control control(rname, UNITREE_LEGGED_SDK::LOWLEVEL);
UNITREE_LEGGED_SDK::InitEnvironment();
// UNITREE_LEGGED_SDK::InitEnvironment();
UNITREE_LEGGED_SDK::LCM roslcm(LOWLEVEL);
mainHelper<UNITREE_LEGGED_SDK::LowCmd, UNITREE_LEGGED_SDK::LowState, UNITREE_LEGGED_SDK::LCM>(argc, argv, roslcm);
}
#endif
}

18
unitree_legged_real/src/exe/torque_mode.cpp Normal file → Executable file
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@ -9,11 +9,14 @@ Use of this source code is governed by the MPL-2.0 license, see LICENSE.
#include <boost/thread/mutex.hpp>
#include <unitree_legged_msgs/LowCmd.h>
#include <unitree_legged_msgs/LowState.h>
#include "unitree_legged_sdk/unitree_legged_sdk.h"
#include "aliengo_sdk/aliengo_sdk.hpp"
#include "convert.h"
#ifdef SDK3_1
using namespace aliengo;
#endif
#ifdef SDK3_2
using namespace UNITREE_LEGGED_SDK;
#endif
template<typename TLCM>
void* update_loop(void* param)
@ -89,12 +92,13 @@ int main(int argc, char *argv[]){
std::string firmwork;
ros::param::get("/firmwork", firmwork);
if(firmwork == "3_1"){
#ifdef SDK3_1
aliengo::Control control(aliengo::LOWLEVEL);
aliengo::LCM roslcm;
mainHelper<aliengo::LowCmd, aliengo::LowState, aliengo::LCM>(argc, argv, roslcm);
}
else if(firmwork == "3_2"){
#endif
#ifdef SDK3_2
std::string robot_name;
UNITREE_LEGGED_SDK::LeggedType rname;
ros::param::get("/robot_name", robot_name);
@ -103,8 +107,8 @@ int main(int argc, char *argv[]){
else if(strcasecmp(robot_name.c_str(), "Aliengo") == 0)
rname = UNITREE_LEGGED_SDK::LeggedType::Aliengo;
UNITREE_LEGGED_SDK::InitEnvironment();
// UNITREE_LEGGED_SDK::InitEnvironment();
UNITREE_LEGGED_SDK::LCM roslcm(LOWLEVEL);
mainHelper<UNITREE_LEGGED_SDK::LowCmd, UNITREE_LEGGED_SDK::LowState, UNITREE_LEGGED_SDK::LCM>(argc, argv, roslcm);
}
#endif
}

18
unitree_legged_real/src/exe/velocity_mode.cpp Normal file → Executable file
View File

@ -10,11 +10,14 @@ Use of this source code is governed by the MPL-2.0 license, see LICENSE.
#include <boost/thread/mutex.hpp>
#include <unitree_legged_msgs/LowCmd.h>
#include <unitree_legged_msgs/LowState.h>
#include "unitree_legged_sdk/unitree_legged_sdk.h"
#include "aliengo_sdk/aliengo_sdk.hpp"
#include "convert.h"
#ifdef SDK3_1
using namespace aliengo;
#endif
#ifdef SDK3_2
using namespace UNITREE_LEGGED_SDK;
#endif
template<typename TLCM>
void* update_loop(void* param)
@ -92,12 +95,13 @@ int main(int argc, char *argv[]){
std::string firmwork;
ros::param::get("/firmwork", firmwork);
if(firmwork == "3_1"){
#ifdef SDK3_1
aliengo::Control control(aliengo::LOWLEVEL);
aliengo::LCM roslcm;
mainHelper<aliengo::LowCmd, aliengo::LowState, aliengo::LCM>(argc, argv, roslcm);
}
else if(firmwork == "3_2"){
#endif
#ifdef SDK3_2
std::string robot_name;
UNITREE_LEGGED_SDK::LeggedType rname;
ros::param::get("/robot_name", robot_name);
@ -107,8 +111,8 @@ int main(int argc, char *argv[]){
rname = UNITREE_LEGGED_SDK::LeggedType::Aliengo;
// UNITREE_LEGGED_SDK::Control control(rname, UNITREE_LEGGED_SDK::LOWLEVEL);
UNITREE_LEGGED_SDK::InitEnvironment();
// UNITREE_LEGGED_SDK::InitEnvironment();
UNITREE_LEGGED_SDK::LCM roslcm(LOWLEVEL);
mainHelper<UNITREE_LEGGED_SDK::LowCmd, UNITREE_LEGGED_SDK::LowState, UNITREE_LEGGED_SDK::LCM>(argc, argv, roslcm);
}
#endif
}

20
unitree_legged_real/src/exe/walk_mode.cpp Normal file → Executable file
View File

@ -10,11 +10,14 @@ Use of this source code is governed by the MPL-2.0 license, see LICENSE.
#include <boost/thread/mutex.hpp>
#include <unitree_legged_msgs/HighCmd.h>
#include <unitree_legged_msgs/HighState.h>
#include "unitree_legged_sdk/unitree_legged_sdk.h"
#include "aliengo_sdk/aliengo_sdk.hpp"
#include "convert.h"
// using namespace UNITREE_LEGGED_SDK;
#ifdef SDK3_1
using namespace aliengo;
#endif
#ifdef SDK3_2
using namespace UNITREE_LEGGED_SDK;
#endif
template<typename TLCM>
void* update_loop(void* param)
@ -136,12 +139,13 @@ int main(int argc, char *argv[]){
std::string firmwork;
ros::param::get("/firmwork", firmwork);
if(firmwork == "3_1"){
#ifdef SDK3_1
aliengo::Control control(aliengo::HIGHLEVEL);
aliengo::LCM roslcm;
mainHelper<aliengo::HighCmd, aliengo::HighState, aliengo::LCM>(argc, argv, roslcm);
}
else if(firmwork == "3_2"){
#endif
#ifdef SDK3_2
std::string robot_name;
UNITREE_LEGGED_SDK::LeggedType rname;
ros::param::get("/robot_name", robot_name);
@ -150,9 +154,9 @@ int main(int argc, char *argv[]){
else if(strcasecmp(robot_name.c_str(), "Aliengo") == 0)
rname = UNITREE_LEGGED_SDK::LeggedType::Aliengo;
UNITREE_LEGGED_SDK::InitEnvironment();
// UNITREE_LEGGED_SDK::InitEnvironment();
UNITREE_LEGGED_SDK::LCM roslcm(UNITREE_LEGGED_SDK::HIGHLEVEL);
mainHelper<UNITREE_LEGGED_SDK::HighCmd, UNITREE_LEGGED_SDK::HighState, UNITREE_LEGGED_SDK::LCM>(argc, argv, roslcm);
}
#endif
}