EmbodiedAI
/
walk-these-ways-go2
mirror of https://github.com/Teddy-Liao/walk-these-ways-go2.git
3
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Update README.md

This commit is contained in:
Liao Dengting 2024-08-30 00:01:44 +08:00 committed by GitHub
parent 1c2a0749c2
commit ed4cedecfc
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
1 changed files with 12 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
README.md
View File

@ -113,14 +113,6 @@ ifconfig
If error occurs, please check [Unitree Support](https://support.unitree.com/home/zh/developer/Quick_start) for details.
### Test communication between LCM and unitree_sdk2
```bash
cd go2_gym_deploy/build
sudo ./lcm_position_go2 eth0
```
Aeplace `eth0` with your own network interface address. According to the messages shown in terminal, press `Enter` for several times and the communication between LCM and unitree_sdk2 will set up.
This command will automatically shut down Unitree sport_mode Service and set the robot to LOW-LEVEL. Please make sure This will Go2 is hung up or lie on the ground.
You can verify LCM send by opening a new terminal:
```bash
cd go2_gym_deploy/build
@ -131,6 +123,18 @@ If LCM and unitree_sdk2 are correctly connected with each other, messages will b
![Alt text](media/lcm_receive.png)
### Start LCM
Before starting LCM, ensure that lcm_receive has been properly shut down.
**It's important not to run lcm_receive and lcm_position_go2 simultaneously.**
```bash
cd go2_gym_deploy/build
sudo ./lcm_position_go2 eth0
```
Replace `eth0` with your own network interface address. According to the messages shown in terminal, press `Enter` for several times and the communication between LCM and unitree_sdk2 will set up.
This command will automatically shut down Unitree sport_mode Service and set the robot to LOW-LEVEL. Please make sure This will Go2 is hung up or lie on the ground.
### Load and run policy
Open a new terminate and run: