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unitree_sdk2_python
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Update channel.py 

Added option to connect using IP address of the robot.

For Example:

python3 ./example/front_camera/camera_opencv.py enp2s0

python3 ./example/front_camera/camera_opencv.py 192.168.123.51

Both of the above will work, where "192.168.123.51" is the static IP address of the robot.
This commit is contained in:
Irfan 2024-05-22 21:56:25 +04:00 committed by GitHub
parent 9ca77a1dc5
commit 82d2fd63ea
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1 changed files with 7 additions and 2 deletions
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9
unitree_sdk2py/core/channel.py
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@ -13,7 +13,7 @@ from cyclonedds.util import duration
from cyclonedds.internal import dds_c_t, InvalidSample
# for channel config
from .channel_config import ChannelConfigAutoDetermine, ChannelConfigHasInterface
from .channel_config import ChannelConfigAutoDetermine, ChannelConfigHasInterface, ChannelConfigHasIP
# for singleton
from ..utils.singleton import Singleton
@ -201,7 +201,12 @@ class ChannelFactory(Singleton):
if networkInterface is None:
config = ChannelConfigAutoDetermine
else:
config = ChannelConfigHasInterface.replace('$__IF_NAME__$', networkInterface)
if "." in networkInterface: # connect using IP
config = ChannelConfigHasIP.replace('$__IF_IP__$', networkInterface)
print(f"connecting using IP: {networkInterface}")
else: # connect using Iface
config = ChannelConfigHasInterface.replace('$__IF_NAME__$', networkInterface)
print(f"connecting using Iface: {networkInterface}")
try:
self.__domain = Domain(id, config)