updated to SDK

unitreerobotics · Feb 15, 2022 · 3c0fe3c · 3c0fe3c
1 parent e305ed1
commit 3c0fe3c
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Showing 3 changed files with 8 additions and 8 deletions.
diff --git a/unitree_legged_msgs/msg/HighState.msg b/unitree_legged_msgs/msg/HighState.msg
@@ -14,7 +14,7 @@ float32[3] velocity                 # (unit: m/s), forwardSpeed, sideSpeed, rota
 float32 yawSpeed                    # (unit: rad/s), rotateSpeed in body frame        
 Cartesian[4] footPosition2Body      # foot position relative to body
 Cartesian[4] footSpeed2Body         # foot speed relative to body
-int8[20] temperature
+#int8[20] temperature
 BmsState bms
 int16[4] footForce                  # Old version Aliengo is different
 int16[4] footForceEst               # Old version Aliengo does not have

diff --git a/unitree_legged_real/CMakeLists.txt b/unitree_legged_real/CMakeLists.txt
@@ -19,12 +19,12 @@ include_directories(
 
 set(CMAKE_CXX_FLAGS "-O3")
 
-include_directories(/home/bian/Robot_SDK/unitree_legged_sdk/include)
-link_directories(/home/bian/Robot_SDK/unitree_legged_sdk/lib)
-string(CONCAT LEGGED_SDK_NAME libunitree_legged_sdk.so)
+include_directories(/home/$ENV{USER}/Robot_SDK/unitree_legged_sdk/include)
+link_directories(/home/$ENV{USER}/Robot_SDK/unitree_legged_sdk/lib)
+string(CONCAT LEGGED_SDK_NAME libunitree_legged_sdk_amd64.so)
 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})
 add_dependencies(lcm_server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 

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