From fcbc0ec2f5b3a2e325a4fadd5ce77ded05c8e4fc Mon Sep 17 00:00:00 2001
From: xiaoliangstd <2303335747@qq.com>
Date: Thu, 5 Dec 2024 18:17:26 +0800
Subject: [PATCH] update go2_utlidar_switch example

---
 example/go2/high_level/go2_utlidar_switch.py | 39 ++++++++++++++++++++
 1 file changed, 39 insertions(+)
 create mode 100644 example/go2/high_level/go2_utlidar_switch.py

diff --git a/example/go2/high_level/go2_utlidar_switch.py b/example/go2/high_level/go2_utlidar_switch.py
new file mode 100644
index 0000000..09e0ce9
--- /dev/null
+++ b/example/go2/high_level/go2_utlidar_switch.py
@@ -0,0 +1,39 @@
+import time
+import sys
+
+from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize
+from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
+from unitree_sdk2py.idl.std_msgs.msg.dds_ import String_
+from unitree_sdk2py.idl.default import std_msgs_msg_dds__String_
+
+class Custom:
+    def __init__(self):
+        # create publisher #
+        self.publisher = ChannelPublisher("rt/utlidar/switch", String_)
+        self.publisher.Init()
+        self.low_cmd = std_msgs_msg_dds__String_()   
+
+    def go2_utlidar_switch(self,status):
+        if status == "OFF":
+            self.low_cmd.data = "OFF"
+        elif status == "ON":
+            self.low_cmd.data = "ON"
+
+        self.publisher.Write(self.low_cmd)
+        
+
+if __name__ == '__main__':
+
+    print("WARNING: Please ensure there are no obstacles around the robot while running this example.")
+    input("Press Enter to continue...")
+
+    if len(sys.argv)>1:
+        ChannelFactoryInitialize(0, sys.argv[1])
+    else:
+        ChannelFactoryInitialize(0)
+
+    custom = Custom()
+    custom.go2_utlidar_switch("OFF")
+
+
+