From 3fa14a566dffe00a870439af485feeb0ad24b580 Mon Sep 17 00:00:00 2001
From: Bian Zekun <568574579@qq.com>
Date: Wed, 1 Sep 2021 20:58:06 +0800
Subject: [PATCH] modified readme

---
 README.md | 92 +++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 92 insertions(+)
 create mode 100644 README.md

diff --git a/README.md b/README.md
new file mode 100644
index 0000000..33b5c1a
--- /dev/null
+++ b/README.md
@@ -0,0 +1,92 @@
+Packages Version: v3.2.1
+
+# Introduction
+This package can send control command to real robot from ROS. You can do low-level control(namely control all joints on robot) and high-level control(namely control the walking direction and speed of robot).
+
+This version is suitable for unitree_legged_sdk v3.2 and v3.1, namely A1 and Aliengo robot. Currently, all the A1 and Aliengo use v3.2. If your Aliengo is really old, then it may use v3.1.
+As for Go1, please use the v3.4 release version of this package and unitree_legged_sdk v3.4.
+
+## Packages:
+
+Basic message function: `unitree_legged_msgs`
+
+The interface between ROS and real robot: `unitree_legged_real`
+
+# Dependencies
+* [unitree_legged_sdk](https://github.com/unitreerobotics): If your robot is suitable for `unitree_legged_sdk`, then you do not need `aliengo_sdk`.
+* [aliengo_sdk](https://github.com/unitreerobotics): If your robot is suitable for `aliengo_sdk`, then you do not need `unitree_legged_sdk`.
+
+# Configuration
+Make sure the following exist in your `~/.bashrc` file or export them in terminal. `melodic`, `gazebo-8`, `~/catkin_ws`, `amd64` and the paths to `unitree_legged_sdk` should be replaced in your own case. 
+If your use `unitree_legged_sdk`, then you need to set `UNITREE_SDK_VERSION=3_2` and the path `UNITREE_LEGGED_SDK_PATH`.
+Otherwise, if you use `aliengo_sdk`, you need to set `UNITREE_SDK_VERSION=3_1` and the path `ALIENGO_SDK_PATH`.
+
+```
+source /opt/ros/melodic/setup.bash
+source /usr/share/gazebo-8/setup.sh
+source ~/catkin_ws/devel/setup.bash
+export ROS_PACKAGE_PATH=~/catkin_ws:${ROS_PACKAGE_PATH}
+export GAZEBO_PLUGIN_PATH=~/catkin_ws/devel/lib:${GAZEBO_PLUGIN_PATH}
+export LD_LIBRARY_PATH=~/catkin_ws/devel/lib:${LD_LIBRARY_PATH}
+# 3_1, 3_2
+export UNITREE_SDK_VERSION=3_2
+export UNITREE_LEGGED_SDK_PATH=~/unitree_legged_sdk
+export ALIENGO_SDK_PATH=~/aliengo_sdk
+# amd64, arm32, arm64
+export UNITREE_PLATFORM="amd64"
+```
+
+# Build
+You can use catkin_make to build ROS packages. First copy the package folder to `~/catkin_ws/src`, then:
+```
+cd ~/catkin_ws
+catkin_make
+```
+Before compiling `unitree_legged_real`, please make sure that the `unitree_legged_msgs` has been compiled.
+
+# Setup the net connection
+First, please connect the network cable between your PC and robot. Then run `ifconfig` in a terminal, you will find your port name. For example, `enx000ec6612921`.
+
+Then, open the `ipconfig.sh` file under the folder `unitree_legged_real`, modify the port name to your own. And run the following commands:
+```
+sudo chmod +x ipconfig.sh
+sudo ./ipconfig.sh
+```
+If you run the `ifconfig` again, you will find that port has `inet` and `netmask` now.
+In order to set your port automatically, you can modify `interfaces`:
+```
+sudo gedit /etc/network/interfaces
+```
+And add the following 4 lines at the end:
+```
+auto enx000ec6612921
+iface enx000ec6612921 inet static
+address 192.168.123.162
+netmask 255.255.255.0
+```
+Where the port name have to be changed to your own.
+
+# Run the package
+You can control your real robot(only A1 and Aliengo) from ROS by this package.
+
+First you have to run the `real_launch` under root account:
+```
+sudo su
+source /home/yourUserName/catkin_ws/devel/setup.bash
+roslaunch unitree_legged_real real.launch rname:=a1 ctrl_level:=highlevel firmwork:=3_2
+```
+Please watchout that the `/home/yourUserName` means the home directory of yourself. These commands will launch a LCM server. The `rname` means robot name, which can be `a1` or `aliengo`(case does not matter), and the default value is `a1`. And the `ctrl_level` means the control level, which can be `lowlevel` or `highlevel`(case does not matter), and the default value is `highlevel`. Under the low level, you can control the joints directly. And under the high level, you can control the robot to move or change its pose. The `firmwork` means the firmwork version of the robot. The default value is `3_2` Now all the A1's firmwork version is `3_2`.
+
+In order to send message to robot, you need to run the controller in another terminal(also under root account):
+```
+rosrun unitree_legged_real position_lcm
+```
+We offered some examples. When you run the low level controller, please make sure the robot is hanging up. The low level contains:
+```
+position_lcm
+velocity_lcm
+torque_lcm
+```
+The `velocity_lcm` and `torque_lcm` have to run under root account too. Please use the same method as runing `real_launch`.
+
+And when you run the high level controller, please make sure the robot is standing on the ground. The high level only has `walk_lcm`.
\ No newline at end of file