初始化项目，包含fast_lio_ws和unitree_sdk2

unitree_sdk2/example/b2/b2_sport_client.cpp

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+#include <iostream>
+#include <string>
+#include <chrono>
+#include <mutex>
+#include <thread>
+#include <pthread.h>
+#include <stdexcept>
+#include <unitree/robot/b2/sport/sport_client.hpp>
+
+using namespace std;
+
+struct TestOption
+{
+    std::string name;
+    int id;
+};
+
+const vector<TestOption> option_list =
+    {
+        {"damp", 0},
+        {"balance_stand", 1},
+        {"stop_move", 2},
+        {"stand_down", 3},
+        {"recovery_stand", 4},
+        {"move", 5},
+        {"switch_gait", 6},
+        {"speed_level", 7},
+        {"hand_stand", 8},
+        {"auto_recovery_set", 9},
+        {"free_walk", 11},
+        {"classic_walk", 12},
+        {"fast_walk", 13},
+        {"euler", 14},
+};
+
+int ConvertToInt(const std::string &str)
+{
+    try
+    {
+        std::stoi(str);
+        return std::stoi(str);
+    }
+    catch (const std::invalid_argument &)
+    {
+        return -1;
+    }
+    catch (const std::out_of_range &)
+    {
+        return -1;
+    }
+}
+
+class UserInterface
+{
+public:
+    UserInterface() {};
+    ~UserInterface() {};
+
+    void terminalHandle()
+    {
+        std::string input;
+        std::getline(std::cin, input);
+
+        if (input.compare("list") == 0)
+        {
+            for (TestOption option : option_list)
+            {
+                std::cout << option.name << ", id: " << option.id << std::endl;
+            }
+        }
+
+        for (TestOption option : option_list)
+        {
+            if (input.compare(option.name) == 0 || ConvertToInt(input) == option.id)
+            {
+                test_option_->id = option.id;
+                test_option_->name = option.name;
+                std::cout << "Test: " << test_option_->name << ", test_id: " << test_option_->id << std::endl;
+            }
+        }
+    };
+
+    TestOption *test_option_;
+};
+
+int main(int argc, char **argv)
+{
+    if (argc < 2)
+    {
+        std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl;
+        exit(-1);
+    }
+    unitree::robot::ChannelFactory::Instance()->Init(0, argv[1]);
+
+    TestOption test_option;
+    test_option.id = 1;
+
+    unitree::robot::b2::SportClient sport_client;
+    sport_client.SetTimeout(25.0f);
+    sport_client.Init();
+
+    UserInterface user_interface;
+    user_interface.test_option_ = &test_option;
+
+    std::cout << "Input \"list \" to list all test option ..." << std::endl;
+    long res_count = 0;
+    while (1)
+    {
+        auto time_start_trick = std::chrono::high_resolution_clock::now();
+        static const constexpr auto dt = std::chrono::microseconds(20000); // 50Hz
+
+        user_interface.terminalHandle();
+
+        int res = 1;
+        if (test_option.id == 0)
+        {
+            res = sport_client.Damp();
+        }
+        else if (test_option.id == 1)
+        {
+            res = sport_client.BalanceStand();
+        }
+        else if (test_option.id == 2)
+        {
+            res = sport_client.StopMove();
+        }
+        else if (test_option.id == 3)
+        {
+            res = sport_client.StandDown();
+        }
+        else if (test_option.id == 4)
+        {
+            res = sport_client.RecoveryStand();
+        }
+        else if (test_option.id == 5)
+        {
+            res = sport_client.Move(0.0, 0.0, 0.5);
+        }
+        else if (test_option.id == 6)
+        {
+            res = sport_client.SwitchGait(0);
+        }
+        else if (test_option.id == 7)
+        {
+            res = sport_client.SpeedLevel(1);
+        }
+        else if (test_option.id == 8)
+        {
+            res = sport_client.HandStand(true);
+        }
+        else if (test_option.id == 9)
+        {
+            res = sport_client.AutoRecoverySet(true);
+        }
+        else if (test_option.id == 11)
+        {
+            res = sport_client.FreeWalk();
+        }
+        else if (test_option.id == 12)
+        {
+            res = sport_client.ClassicWalk(true);
+        }
+        else if (test_option.id == 13)
+        {
+            res = sport_client.FastWalk(true);
+        }
+        else if (test_option.id == 14)
+        {
+            res = sport_client.Euler(0.0, 0.2, 0.0);
+        }
+
+        if (res < 0)
+        {
+            res_count += 1;
+            std::cout << "Request error for: " << option_list[test_option.id].name << ", code: " << res << ", count: " << res_count << std::endl;
+        }
+        else
+        {
+            res_count = 0;
+            std::cout << "Request successed: " << option_list[test_option.id].name << ", code: " << res << std::endl;
+        }
+        std::this_thread::sleep_until(time_start_trick + dt);
+    }
+    return 0;
+}