40 lines
1.1 KiB
Python
40 lines
1.1 KiB
Python
import time
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import sys
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from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize
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from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
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from unitree_sdk2py.idl.std_msgs.msg.dds_ import String_
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from unitree_sdk2py.idl.default import std_msgs_msg_dds__String_
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class Custom:
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def __init__(self):
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# create publisher #
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self.publisher = ChannelPublisher("rt/utlidar/switch", String_)
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self.publisher.Init()
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self.low_cmd = std_msgs_msg_dds__String_()
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def go2_utlidar_switch(self,status):
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if status == "OFF":
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self.low_cmd.data = "OFF"
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elif status == "ON":
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self.low_cmd.data = "ON"
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self.publisher.Write(self.low_cmd)
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if __name__ == '__main__':
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print("WARNING: Please ensure there are no obstacles around the robot while running this example.")
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input("Press Enter to continue...")
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if len(sys.argv)>1:
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ChannelFactoryInitialize(0, sys.argv[1])
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else:
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ChannelFactoryInitialize(0)
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custom = Custom()
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custom.go2_utlidar_switch("OFF")
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