77 lines
1.6 KiB
Markdown
77 lines
1.6 KiB
Markdown
# v3.6.1
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The z1_sdk is mainly used for communication between z1_controller and command panel(keyboard, joystick, user control panel etc).
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## Notice
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support robot: Z1(v3.6.1)
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not support robot: Z1(v3.4, v3.5)
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## Dependencies
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- build-essential
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```bash
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sudo apt install build-essential
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```
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- Boost (version 1.5.4 or higher)
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```bash
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dpkg -S /usr/include/boost/version.hpp # check boost version
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sudo apt install libboost-dev # install boost
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```
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- CMake (version 2.8.3 or higher)
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```bash
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cmake --version # check cmake version
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sudo apt install cmake # install cmake
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```
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- [Eigen](https://gitlab.com/libeigen/eigen/-/releases/3.3.9) (version 3.3.9 or higher)
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```bash
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cd eigen-3.3.9
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mkdir build && cd build
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cmake ..
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sudo make install
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sudo ln -s /usr/local/include/eigen3 /usr/include/eigen3
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sudo ln -s /usr/local/include/eigen3/Eigen /usr/local/include/Eigen
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```
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## Example
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There are three examples of command panel control based on SDK in this project, you can use it fllowing the steps below.
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### State change
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- First, set(CTRL_PANEL SDK) # z1_ws/src/z1_controller/CMakeList.txt，and then rebuild the z1_ws to generate z1_ctrl, then open a teminal to run z1_ctrl
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```
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cd /<path to>/z1_controller/build
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sudo ./z1_ctrl
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```
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- Sencond, build the z1_sdk, and then open another terminal to run example.
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```
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cd /<path to>/z1_sdk && mkdir build && cd build
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cmake ..
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make -j4
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./example_state_send
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```
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### Low level control
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```
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sudo ./z1_ctrl # Running in a terminal
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./example_lowCmd_send # Running in another terminal
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```
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### Keyboard control
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```
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sudo ./z1_ctrl # Running in a terminal
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./example_keyboard_send # Running in another terminal
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```
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