2023-12-19 16:12:24 +08:00
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# zkdog
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2023-12-20 12:44:39 +08:00
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这里是基于宇树科技机器狗go1二次开发相关配置经验，以及一些问题的解决方案，包括python版本的机器狗的控制api的二次封装，方便大家快速开发。
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# Go1系统架构图（二开）
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[Go1系统架构图 (yuque.com)](https://www.yuque.com/ironfatty/nly1un/fscioc)
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主控板：MCU（192.168.123.10）
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运动控制主板：RasPi 4B（192.168.123.161）
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感知主板：Nano（头部、192.168.123.13）、Nano（机身、192.168.123.14）、Nano或NX（机身、192.168.123.15）
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# 一、基础环境配置
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如何进入各个板子？
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```bash
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# 首先连接机器狗的wifi 密码 00000000
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# 进入运动控制主板
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ssh pi@192.168.12.1 # 密码 123
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# 进入主控板之后,可以进入其他板子
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ssh unitree@192.168.123.XX # 密码 123
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```
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## 1.网络环境配置
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网络环境配置有两种解决办法，一种是采用官方给出的方案，采用内置无线网卡实现运动控制主板上网（弊端：其他板子无法上网）另一种则是采用有线上网的方式；这里推荐采用配置http代理的方式实现无侵入式实现所有板子上网的问题。[网络配置详情](docs/网络环境配置.md)。
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## 2.开发环境配置
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### 2.1 code-server配置
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树莓派/nx 板子 arm64机器 版本不需要太高即可
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code-server-3.9.3-linux-arm64.tar.gz
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[https://github.com/coder/code-server/releases?page=4](https://github.com/coder/code-server/releases?page=4)
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```bash
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# 安装
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tar -zxvf code-server-3.9.3-linux-arm64.tar.gz
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mv code-server-3.9.3-linux-arm64 code-server
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# 第一次运行生成配置
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cd code-server/bin
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./code-server
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# 编辑配置文件
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vim ~/.config/code-server/config.yaml
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#bind-addr: 0.0.0.0:8888
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#auth: password
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#password: 123456
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#cert: false
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# 软链接
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sudo ln -s /home/unitree/alg/code-server/bin/code-server /usr/bin/code-server
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# 配置启动文件
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vim code-start.sh
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2023-12-20 13:37:35 +08:00
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#! /bin/sh
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su unitree -c 'export PASSWORD="123"; nohup code-server --host 0.0.0.0 --port 8888 --auth password > /home/unitree/alg/code-server.log 2>&1 &'
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2023-12-20 12:44:39 +08:00
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# 修改权限code-start.sh
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sudo chmod +x code-start.sh
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```
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配置code-srever开机自启
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rc.local脚本是一个ubuntu开机后会自动执行的脚本，我们可以在该脚本内添加命令行指令。该脚本位于/etc/路径下，需要root权限才能修改。
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该脚本具体格式如下：
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```bash
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sudo vim /etc/rc.local
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#!/bin/sh -e
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#
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# rc.local
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#
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# This script is executed at the end of each multiuser runlevel.
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# Make sure that the script will "exit 0" on success or any other
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# value on error.
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#
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# In order to enable or disable this script just change the execution
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# bits.
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#
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# By default this script does nothing.
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sh /home/unitree/alg/code-start.sh
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exit 0
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```
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注意: 一定要将命令添加在 exit 0之前
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### 2.2 主控板nginx 新增配置（切记不要修改内部配置）
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```bash
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sudo vim /etc/nginx/sites-available/default
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location /codeServer {
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proxy_pass ~~http://127.0.0.1:8080/~~ 修改为配置的 code-server 地址;
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proxy_set_header Host $host;
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proxy_set_header Upgrade $http_upgrade;
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proxy_set_header Connection upgrade;
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proxy_set_header Accept-Encoding gzip;
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}
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# 重启nginx服务，
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sudo nginx -t && sudo nginx -s reload
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# 启动之后，我们看一下 Nginx 是否处于运行状态。
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sudo service nginx status
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```
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配置完成后可通过192.168.12.1/codeServer访问code-server 服务, 如果配置不生效，请检测http代理是否规避掉 需要nginx代理的ip
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### 2.3 python 环境配置 （建议不要直接在内部python环境安装第三方包，防止冲突）
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```bash
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# 安装python3.6
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# 下载python3.6.4
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wget https://www.python.org/ftp/python/3.6.4/Python-3.6.4.tgz
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# 解压
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tar -zxvf Python-3.6.4.tgz
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# 创建目录
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sudo mkdir /home/unitree/python3.6
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#编译安装（在解压出来的目录下执行）
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#建议make和make install 分两步
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sudo ./configure --prefix=/home/unitree/python3.6
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sudo make
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sudo make install
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#添加软链接
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sudo ln -s /home/unitree/python3.6/bin/python3.6 /usr/bin/python36
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ls -al # 查看软链接
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# 如果新装的python中含有pip 同上可添加软链接的形式, 否则后期pip使用可以按如下方式
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# python36 -m pip list
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python36 -m pip install XXX
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```
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# 二、ZKMetaApi 使用
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2023-12-26 10:21:53 +08:00
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## 1. 编译unitree_legged_sdk
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[unitree_legged_sdk](https://github.com/unitreerobotics/unitree_legged_sdk)
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``` shell
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git clone https://github.com/unitreerobotics/unitree_legged_sdk.git
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cd unitree_legged_sdk
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mkdir build && cd build
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cmake .. && make
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# 如果需要使用python sdk
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cmake -DPYTHON_BUILD=TRUE .. && make
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```
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## 2. 使用python sdk
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### 2.1 arm架构
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机器狗所使用的处理器架构为arm
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将example_py下的.py文件中```sys.path.append('../lib/python/amd64')```改为```sys.path.append('../lib/python/arm64')```
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### 2.2 amd架构
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PC端调试不需要更改example_py下的.py文件
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2023-12-20 12:44:39 +08:00
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2023-12-20 13:37:35 +08:00
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# Tips
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2023-12-20 12:44:39 +08:00
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2023-12-26 10:21:53 +08:00
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## [unitree_legged_sdk编译问题](docs/unitree_legged_sdk编译问题.md)
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2023-12-20 13:37:35 +08:00
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## [code-server安装插件证书问题](docs/code-server安装插件证书问题.md)
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