modification for sdk v3.5.1

.gitmodules

@@ -1,3 +0,0 @@
-[submodule "unitree_legged_sdk"]
-	path = unitree_legged_sdk
-	url = https://github.com/unitreerobotics/unitree_legged_sdk.git

README.md

@@ -1,4 +1,4 @@
-Packages Version: v3.8.0
+Packages Version: v3.5.1
 
 # 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).
@@ -15,11 +15,10 @@ The interface between ROS and real robot: `unitree_legged_real`
 We recommand users to run this package in Ubuntu 18.04 and ROS melodic environment
 
 ## Dependencies
-* [unitree_legged_sdk](https://github.com/unitreerobotics/unitree_legged_sdk/releases)
+* [unitree_legged_sdk](https://github.com/unitreerobotics/unitree_legged_sdk/releases/tag/v3.5.1)
 ### 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.
+The release [v3.5.1](https://github.com/unitreerobotics/unitree_legged_sdk/releases/tag/v3.5.1) only supports for robot: Go1.
+There is a typo on line 189 at "\unitree_legged_sdk-3.5.1\include\unitree_legged_sdk\comm.h". Change "postion" to "position" will work.
 
 # Configuration
 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.
@@ -70,12 +69,12 @@ It depends which control mode you want to use.
 
 Then, if you want to run high-level control mode, you can run example_walk node like this
 ```
-rosrun unitree_legged_real ros_example_walk
+rosrun unitree_legged_real example_walk
 ```
 
 If you want to run low-level control mode, you can run example_position program node like this
 ```
-rosrun unitree_legged_real ros_example_postion
+rosrun unitree_legged_real example_postion
 ```
 
 You can also run the node state_sub to subscribe the feedback information from Go1 robot

unitree_legged_real/CMakeLists.txt

@@ -1,13 +1,12 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(unitree_legged_real)
 
-set(CMAKE_CXX_FLAGS "-O3 -fPIC -std=c++11")
+add_compile_options(-std=c++11)
 
 find_package(catkin REQUIRED COMPONENTS
     roscpp
     geometry_msgs
     unitree_legged_msgs
-    unitree_legged_sdk
 )
 
 catkin_package()
@@ -18,22 +17,35 @@ if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "x86_64.*")
 else()
   set(ARCH arm64)
 endif()
+set(LEGGED_SDK_NAME -pthread libunitree_legged_sdk_${ARCH}.so lcm)
+
+set(EXTRA_LIBS ${LEGGED_SDK_NAME} lcm)
+
+
+set(CMAKE_CXX_FLAGS "-O3 -fPIC")
+
 
-set(EXTRA_LIBS -pthread ${unitree_legged_sdk_LIBRARIES})
 
 include_directories(
     include
     ${catkin_INCLUDE_DIRS}
-    ${unitree_legged_sdk_INCLUDE_DIRS}
+    ${CMAKE_SOURCE_DIR}/unitree_legged_sdk/include
 )
 
-add_executable(ros_example_walk src/exe/example_walk.cpp)
-target_link_libraries(ros_example_walk ${EXTRA_LIBS} ${catkin_LIBRARIES})
-add_dependencies(ros_example_walk ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
-add_executable(ros_example_position src/exe/example_position.cpp)
-target_link_libraries(ros_example_position ${EXTRA_LIBS} ${catkin_LIBRARIES})
-add_dependencies(ros_example_position ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+link_directories(${CMAKE_SOURCE_DIR}/unitree_legged_sdk/lib)
+
+
+
+
+add_executable(example_walk src/exe/example_walk.cpp)
+target_link_libraries(example_walk ${EXTRA_LIBS} ${catkin_LIBRARIES})
+add_dependencies(example_walk ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+add_executable(example_position src/exe/example_position.cpp)
+target_link_libraries(example_position ${EXTRA_LIBS} ${catkin_LIBRARIES})
+add_dependencies(example_position ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 add_executable(state_sub src/exe/state_sub.cpp)
 target_link_libraries(state_sub ${EXTRA_LIBS} ${catkin_LIBRARIES})
@@ -50,4 +62,3 @@ add_dependencies(control_via_keyboard ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catk
 add_executable(twist_sub src/exe/twist_sub.cpp)
 target_link_libraries(twist_sub ${EXTRA_LIBS} ${catkin_LIBRARIES})
 add_dependencies(twist_sub ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-

unitree_legged_real/ipconfig.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+
+sudo ifconfig lo multicast
+sudo route add -net 224.0.0.0 netmask 240.0.0.0 dev lo
+
+sudo ifconfig enx000ec6612921 down
+sudo ifconfig enx000ec6612921 up 192.168.123.162 netmask 255.255.255.0
+

unitree_legged_real/package.xml

@@ -15,7 +15,6 @@
   <exec_depend>roscpp</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <depend>unitree_legged_msgs</depend>
-  <depend>unitree_legged_sdk</depend>
   <depend>eigen</depend>
 
 </package>

unitree_legged_real/src/exe/ros_udp.cpp

@@ -24,10 +24,8 @@ public:
 
 public:
     Custom()
-        : 
-        // low_udp(LOWLEVEL),
-        low_udp(LOWLEVEL, 8091, "192.168.123.10", 8007),
-        high_udp(8090, "192.168.123.161", 8082, sizeof(HighCmd), sizeof(HighState))
+        : low_udp(LOWLEVEL),
+          high_udp(8090, "192.168.123.161", 8082, sizeof(HighCmd), sizeof(HighState))
     {
         high_udp.InitCmdData(high_cmd);
         low_udp.InitCmdData(low_cmd);

unitree_legged_real/src/exe/twist_sub.cpp

@@ -24,10 +24,8 @@ public:
 
 public:
     Custom()
-        : 
-        // low_udp(LOWLEVEL),
-        low_udp(LOWLEVEL, 8091, "192.168.123.10", 8007),
-        high_udp(8090, "192.168.123.161", 8082, sizeof(HighCmd), sizeof(HighState))
+        : low_udp(LOWLEVEL),
+          high_udp(8090, "192.168.123.161", 8082, sizeof(HighCmd), sizeof(HighState))
     {
         high_udp.InitCmdData(high_cmd);
         low_udp.InitCmdData(low_cmd);
@@ -109,4 +107,4 @@ int main(int argc, char **argv)
     ros::spin();
 
     return 0;
-}
+}

unitree_legged_sdk

@@ -1 +0,0 @@
-Subproject commit acc36dfd48755f5a9889ef3cc9ee31604ebfe41c