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unitree_ros_to_real
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updated to SDK

This commit is contained in:
ZKBian 2022-02-15 15:14:35 +08:00
parent e305ed1510
commit 3c0fe3c97d
3 changed files with 8 additions and 8 deletions
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2
unitree_legged_msgs/msg/HighState.msg
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@ -14,7 +14,7 @@ float32[3] velocity # (unit: m/s), forwardSpeed, sideSpeed, rota
float32 yawSpeed # (unit: rad/s), rotateSpeed in body frame float32 yawSpeed # (unit: rad/s), rotateSpeed in body frame
Cartesian[4] footPosition2Body # foot position relative to body Cartesian[4] footPosition2Body # foot position relative to body
Cartesian[4] footSpeed2Body # foot speed relative to body Cartesian[4] footSpeed2Body # foot speed relative to body
int8[20] temperature #int8[20] temperature
BmsState bms BmsState bms
int16[4] footForce # Old version Aliengo is different int16[4] footForce # Old version Aliengo is different
int16[4] footForceEst # Old version Aliengo does not have int16[4] footForceEst # Old version Aliengo does not have

8
unitree_legged_real/CMakeLists.txt
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@ -19,12 +19,12 @@ include_directories(
set(CMAKE_CXX_FLAGS "-O3") set(CMAKE_CXX_FLAGS "-O3")
include_directories(/home/bian/Robot_SDK/unitree_legged_sdk/include) include_directories(/home/$ENV{USER}/Robot_SDK/unitree_legged_sdk/include)
link_directories(/home/bian/Robot_SDK/unitree_legged_sdk/lib) link_directories(/home/$ENV{USER}/Robot_SDK/unitree_legged_sdk/lib)
string(CONCAT LEGGED_SDK_NAME libunitree_legged_sdk.so) string(CONCAT LEGGED_SDK_NAME libunitree_legged_sdk_amd64.so)
set(EXTRA_LIBS ${LEGGED_SDK_NAME} lcm) set(EXTRA_LIBS ${LEGGED_SDK_NAME} lcm)
add_executable(lcm_server /home/bian/Robot_SDK/unitree_legged_sdk/examples/lcm_server.cpp) add_executable(lcm_server /home/$ENV{USER}/Robot_SDK/unitree_legged_sdk/examples/lcm_server.cpp)
target_link_libraries(lcm_server ${EXTRA_LIBS} ${catkin_LIBRARIES}) target_link_libraries(lcm_server ${EXTRA_LIBS} ${catkin_LIBRARIES})
add_dependencies(lcm_server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) add_dependencies(lcm_server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

6
unitree_legged_real/include/convert.h
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@ -178,9 +178,9 @@ unitree_legged_msgs::HighState ToRos(UNITREE_LEGGED_SDK::HighState& lcm)
ros.footForceEst[i] = lcm.footForceEst[i]; ros.footForceEst[i] = lcm.footForceEst[i];
} }
for(int i(0); i<20; ++i){ // for(int i(0); i<20; ++i){
ros.temperature[i] = lcm.temperature[i]; // ros.temperature[i] = lcm.temperature[i];
} // }
for(int i(0); i<40; ++i){ for(int i(0); i<40; ++i){
ros.wirelessRemote[i] = lcm.wirelessRemote[i]; ros.wirelessRemote[i] = lcm.wirelessRemote[i];