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unitree_ros_to_real
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fix msg missing bug 

1. add "eeforce msg" to the "LowState msg"
2 .change the path description of "unitree_legged_sdk" in README.md and CmakeList.txt
This commit is contained in:
llexGe 2022-10-16 14:06:21 +08:00
parent 05e91528c1
commit 40d7c37d86
4 changed files with 18 additions and 14 deletions
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1
.gitignore vendored
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@ -1 +0,0 @@
.vscode/

17
README.md
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@ -3,7 +3,7 @@ Packages Version: v3.5.0
# Introduction # 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 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 v3.5.1, namely Go1 robot. This version is suitable for unitree_legged_sdk v3.5.1, namely Go1 robot.
## Packages: ## Packages:
@ -14,11 +14,15 @@ The interface between ROS and real robot: `unitree_legged_real`
## Environment ## Environment
We recommand users to run this package in Ubuntu 18.04 and ROS melodic environment We recommand users to run this package in Ubuntu 18.04 and ROS melodic environment
# Dependencies ## Dependencies
* [unitree_legged_sdk](https://github.com/unitreerobotics): v3.5.1 * [unitree_legged_sdk](https://github.com/unitreerobotics/unitree_legged_sdk/releases)
### Notice
The newest release [v3.8.0](https://github.com/unitreerobotics/unitree_legged_sdk/releases/tag/3.8.0) only supports for robot: Go1.
Check release [v3.3.4](https://github.com/unitreerobotics/unitree_legged_sdk/releases/tag/3.3.4) for A1 support.
# Configuration # Configuration
Before compiling this package, users have to download unitree_legged-sdk v.3.5.1 to `~/catkin_ws/src` folder, which is the same folder where you put this package into Before compiling this package, please download the corresponding unitree_legged_sdk as noted above, and put it to your own workspace's source folder(e.g. `~/catkin_ws/src`). Be careful with the sdk folder name. It should be "unitree_legged_sdk" without version tag.
# Build # Build
You can use catkin_make to build ROS packages. First copy the package folder to `~/catkin_ws/src`, then: You can use catkin_make to build ROS packages. First copy the package folder to `~/catkin_ws/src`, then:
@ -86,8 +90,3 @@ roslaunch unitree_legged_real keyboard_control.launch
And before you do the low-level control, please press L2+A to sit the robot down and then press L1+L2+start to make the robot into And before you do the low-level control, please press L2+A to sit the robot down and then press L1+L2+start to make the robot into
mode in which you can do joint-level control, finally make sure you hang the robot up before you run low-level control. mode in which you can do joint-level control, finally make sure you hang the robot up before you run low-level control.

9
unitree_legged_msgs/msg/LowState.msg
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@ -14,5 +14,12 @@ int16[4] footForceEst
uint32 tick uint32 tick
uint8[40] wirelessRemote uint8[40] wirelessRemote
uint32 reserve uint32 reserve
uint32 crc uint32 crc
# Old version Aliengo does not have:
Cartesian[4] eeForceRaw
Cartesian[4] eeForce #it's a 1-DOF force infact, but we use 3-DOF here just for visualization
Cartesian position # will delete
Cartesian velocity # will delete
Cartesian velocity_w # will delete

5
unitree_legged_real/CMakeLists.txt
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@ -29,12 +29,12 @@ set(CMAKE_CXX_FLAGS "-O3 -fPIC")
include_directories( include_directories(
include include
${catkin_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS}
${CMAKE_SOURCE_DIR}/unitree_legged_sdk-master/include ${CMAKE_SOURCE_DIR}/unitree_legged_sdk/include
) )
link_directories(${CMAKE_SOURCE_DIR}/unitree_legged_sdk-master/lib) link_directories(${CMAKE_SOURCE_DIR}/unitree_legged_sdk/lib)
@ -62,4 +62,3 @@ add_dependencies(control_via_keyboard ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catk
add_executable(twist_sub src/exe/twist_sub.cpp) add_executable(twist_sub src/exe/twist_sub.cpp)
target_link_libraries(twist_sub ${EXTRA_LIBS} ${catkin_LIBRARIES}) target_link_libraries(twist_sub ${EXTRA_LIBS} ${catkin_LIBRARIES})
add_dependencies(twist_sub ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) add_dependencies(twist_sub ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})