modification for sdk v3.5.1

unitreerobotics · Oct 21, 2022 · ad91c9f · ad91c9f
1 parent c54489e
commit ad91c9f
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Showing 5 changed files with 22 additions and 18 deletions.
diff --git a/README.md b/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.

diff --git a/unitree_legged_real/CMakeLists.txt b/unitree_legged_real/CMakeLists.txt
@@ -17,13 +17,15 @@ if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "x86_64.*")
 else()
   set(ARCH arm64)
 endif()
+set(LEGGED_SDK_NAME -pthread libunitree_legged_sdk_${ARCH}.so lcm)
 
-link_directories(${CMAKE_SOURCE_DIR}/unitree_legged_sdk/lib/cpp/${ARCH})
+set(EXTRA_LIBS ${LEGGED_SDK_NAME} lcm)
 
-set(EXTRA_LIBS -pthread libunitree_legged_sdk.so)
 
 set(CMAKE_CXX_FLAGS "-O3 -fPIC")
 
+
+
 include_directories(
     include
     ${catkin_INCLUDE_DIRS}
@@ -32,7 +34,7 @@ include_directories(
 
 
 
-
+link_directories(${CMAKE_SOURCE_DIR}/unitree_legged_sdk/lib)
 
 
 
@@ -60,4 +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})
-
diff --git a/unitree_legged_real/ipconfig.sh b/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
+
diff --git a/unitree_legged_real/src/exe/ros_udp.cpp b/unitree_legged_real/src/exe/ros_udp.cpp
@@ -24,10 +24,8 @@ class Custom
 
 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);

diff --git a/unitree_legged_real/src/exe/twist_sub.cpp b/unitree_legged_real/src/exe/twist_sub.cpp
@@ -24,10 +24,8 @@ class Custom
 
 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;
-}
+}