初始化项目，包含fast_lio_ws和unitree_sdk2
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372
unitree_sdk2/example/b2w/b2w_stand_example.cpp
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372
unitree_sdk2/example/b2w/b2w_stand_example.cpp
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#include <iostream>
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#include <stdio.h>
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#include <stdint.h>
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#include <math.h>
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#include <unitree/robot/channel/channel_publisher.hpp>
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#include <unitree/robot/channel/channel_subscriber.hpp>
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#include <unitree/idl/go2/LowState_.hpp>
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#include <unitree/idl/go2/LowCmd_.hpp>
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#include <unitree/common/time/time_tool.hpp>
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#include <unitree/common/thread/thread.hpp>
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#include <unitree/robot/b2/motion_switcher/motion_switcher_client.hpp>
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#include <unitree/robot/b2/sport/sport_client.hpp>
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using namespace unitree::common;
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using namespace unitree::robot;
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using namespace unitree::robot::b2;
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#define TOPIC_LOWCMD "rt/lowcmd"
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#define TOPIC_LOWSTATE "rt/lowstate"
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constexpr double PosStopF = (2.146E+9f);
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constexpr double VelStopF = (16000.0f);
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class Custom
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{
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public:
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explicit Custom(){}
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~Custom(){}
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void Init();
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void Start();
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private:
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void InitLowCmd();
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void LowStateMessageHandler(const void* messages);
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void LowCmdWrite();
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int queryMotionStatus();
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std::string queryServiceName(std::string form,std::string name);
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private:
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float Kp = 1000.0;
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float Kd = 10.0;
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double time_consume = 0;
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int rate_count = 0;
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int sin_count = 0;
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int motiontime = 0;
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float dt = 0.002; // 0.001~0.01
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MotionSwitcherClient msc;
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SportClient sc;
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unitree_go::msg::dds_::LowCmd_ low_cmd{}; // default init
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unitree_go::msg::dds_::LowState_ low_state{}; // default init
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/*publisher*/
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ChannelPublisherPtr<unitree_go::msg::dds_::LowCmd_> lowcmd_publisher;
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/*subscriber*/
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ChannelSubscriberPtr<unitree_go::msg::dds_::LowState_> lowstate_subscriber;
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/*LowCmd write thread*/
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ThreadPtr lowCmdWriteThreadPtr;
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float _targetPos_1[12] = {0.0, 1.36, -2.65, 0.0, 1.36, -2.65,
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-0.2, 1.36, -2.65, 0.2, 1.36, -2.65};
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float _targetPos_2[12] = {0.0, 0.67, -1.3, 0.0, 0.67, -1.3,
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0.0, 0.67, -1.3, 0.0, 0.67, -1.3};
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float _targetPos_3[12] = {-0.65, 1.36, -2.65, 0.65, 1.36, -2.65,
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-0.65, 1.36, -2.65, 0.65, 1.36, -2.65};
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float _startPos[12];
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float _duration_1 = 800;
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float _duration_2 = 800;
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float _duration_3 = 2000;
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float _duration_4 = 1500;
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float _percent_1 = 0;
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float _percent_2 = 0;
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float _percent_3 = 0;
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float _percent_4 = 0;
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bool firstRun = true;
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bool done = false;
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};
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uint32_t crc32_core(uint32_t* ptr, uint32_t len)
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{
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unsigned int xbit = 0;
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unsigned int data = 0;
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unsigned int CRC32 = 0xFFFFFFFF;
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const unsigned int dwPolynomial = 0x04c11db7;
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for (unsigned int i = 0; i < len; i++)
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{
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xbit = 1 << 31;
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data = ptr[i];
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for (unsigned int bits = 0; bits < 32; bits++)
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{
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if (CRC32 & 0x80000000)
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{
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CRC32 <<= 1;
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CRC32 ^= dwPolynomial;
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}
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else
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{
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CRC32 <<= 1;
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}
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if (data & xbit)
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CRC32 ^= dwPolynomial;
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xbit >>= 1;
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}
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}
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return CRC32;
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}
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void Custom::Init()
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{
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InitLowCmd();
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/*create publisher*/
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lowcmd_publisher.reset(new ChannelPublisher<unitree_go::msg::dds_::LowCmd_>(TOPIC_LOWCMD));
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lowcmd_publisher->InitChannel();
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/*create subscriber*/
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lowstate_subscriber.reset(new ChannelSubscriber<unitree_go::msg::dds_::LowState_>(TOPIC_LOWSTATE));
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lowstate_subscriber->InitChannel(std::bind(&Custom::LowStateMessageHandler, this, std::placeholders::_1), 1);
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/*init MotionSwitcherClient*/
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msc.SetTimeout(10.0f);
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msc.Init();
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/*Shut down motion control-related service*/
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while(queryMotionStatus())
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{
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std::cout << "Try to deactivate the motion control-related service." << std::endl;
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int32_t ret = msc.ReleaseMode();
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if (ret == 0) {
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std::cout << "ReleaseMode succeeded." << std::endl;
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} else {
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std::cout << "ReleaseMode failed. Error code: " << ret << std::endl;
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}
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sleep(5);
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}
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}
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void Custom::InitLowCmd()
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{
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low_cmd.head()[0] = 0xFE;
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low_cmd.head()[1] = 0xEF;
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low_cmd.level_flag() = 0xFF;
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low_cmd.gpio() = 0;
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for(int i=0; i<20; i++)
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{
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low_cmd.motor_cmd()[i].mode() = (0x01); // motor switch to servo (PMSM) mode
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low_cmd.motor_cmd()[i].q() = (PosStopF);
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low_cmd.motor_cmd()[i].kp() = (0);
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low_cmd.motor_cmd()[i].dq() = (VelStopF);
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low_cmd.motor_cmd()[i].kd() = (0);
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low_cmd.motor_cmd()[i].tau() = (0);
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}
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}
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int Custom::queryMotionStatus()
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{
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std::string robotForm,motionName;
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int motionStatus;
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int32_t ret = msc.CheckMode(robotForm,motionName);
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if (ret == 0) {
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std::cout << "CheckMode succeeded." << std::endl;
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} else {
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std::cout << "CheckMode failed. Error code: " << ret << std::endl;
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}
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if(motionName.empty())
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{
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std::cout << "The motion control-related service is deactivated." << std::endl;
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motionStatus = 0;
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}
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else
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{
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std::string serviceName = queryServiceName(robotForm,motionName);
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std::cout << "Service: "<< serviceName<< " is activate" << std::endl;
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motionStatus = 1;
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}
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return motionStatus;
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}
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std::string Custom::queryServiceName(std::string form,std::string name)
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{
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if(form == "0")
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{
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if(name == "normal" ) return "sport_mode";
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if(name == "ai" ) return "ai_sport";
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if(name == "advanced" ) return "advanced_sport";
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}
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else
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{
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if(name == "ai-w" ) return "wheeled_sport(go2W)";
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if(name == "normal-w" ) return "wheeled_sport(b2W)";
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}
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return "";
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}
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void Custom::Start()
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{
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/*loop publishing thread*/
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lowCmdWriteThreadPtr = CreateRecurrentThreadEx("writebasiccmd", UT_CPU_ID_NONE, 2000, &Custom::LowCmdWrite, this);
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}
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void Custom::LowStateMessageHandler(const void* message)
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{
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low_state = *(unitree_go::msg::dds_::LowState_*)message;
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}
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void Custom::LowCmdWrite()
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{
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if(_percent_4<1)
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{
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std::cout<<"Read sensor data example: "<<std::endl;
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std::cout<<"Joint 0 pos: "<<low_state.motor_state()[0].q()<<std::endl;
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std::cout<<"Imu accelerometer : "<<"x: "<<low_state.imu_state().accelerometer()[0]<<" y: "<<low_state.imu_state().accelerometer()[1]<<" z: "<<low_state.imu_state().accelerometer()[2]<<std::endl;
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std::cout<<"Foot force "<<low_state.foot_force()[0]<<std::endl;
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std::cout<<std::endl;
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}
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if((_percent_4 == 1) && ( done == false))
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{
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std::cout<<"The example is done! "<<std::endl;
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std::cout<<std::endl;
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done = true;
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}
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motiontime++;
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if(motiontime>=500)
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{
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if(firstRun)
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{
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for(int i = 0; i < 12; i++)
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{
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_startPos[i] = low_state.motor_state()[i].q();
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}
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firstRun = false;
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}
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_percent_1 += (float)1 / _duration_1;
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_percent_1 = _percent_1 > 1 ? 1 : _percent_1;
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if (_percent_1 < 1)
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{
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for (int j = 0; j < 12; j++)
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{
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low_cmd.motor_cmd()[j].q() = (1 - _percent_1) * _startPos[j] + _percent_1 * _targetPos_1[j];
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low_cmd.motor_cmd()[j].dq() = 0;
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low_cmd.motor_cmd()[j].kp() = Kp;
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low_cmd.motor_cmd()[j].kd() = Kd;
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low_cmd.motor_cmd()[j].tau() = 0;
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}
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}
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if ((_percent_1 == 1)&&(_percent_2 < 1))
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{
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_percent_2 += (float)1 / _duration_2;
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_percent_2 = _percent_2 > 1 ? 1 : _percent_2;
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for (int j = 0; j < 12; j++)
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{
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low_cmd.motor_cmd()[j].q() = (1 - _percent_2) * _targetPos_1[j] + _percent_2 * _targetPos_2[j];
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low_cmd.motor_cmd()[j].dq() = 0;
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low_cmd.motor_cmd()[j].kp() = Kp;
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low_cmd.motor_cmd()[j].kd() = Kd;
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low_cmd.motor_cmd()[j].tau() = 0;
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}
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}
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if ((_percent_1 == 1)&&(_percent_2 == 1)&&(_percent_3<1))
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{
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_percent_3 += (float)1 / _duration_3;
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_percent_3 = _percent_3 > 1 ? 1 : _percent_3;
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for (int j = 0; j < 12; j++)
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{
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low_cmd.motor_cmd()[j].q() = _targetPos_2[j];
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low_cmd.motor_cmd()[j].dq() = 0;
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low_cmd.motor_cmd()[j].kp() = Kp;
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low_cmd.motor_cmd()[j].kd() = Kd;
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low_cmd.motor_cmd()[j].tau() = 0;
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}
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if(_percent_3<0.4)
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{
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for (int j = 12; j < 16; j++)
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{
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low_cmd.motor_cmd()[j].q() = 0;
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low_cmd.motor_cmd()[j].kp() = 0;
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low_cmd.motor_cmd()[j].dq() = 3;
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low_cmd.motor_cmd()[j].kd() = Kd;
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low_cmd.motor_cmd()[j].tau() = 0;
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}
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}
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else if((_percent_3>=0.4)&&(_percent_3<0.8))
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{
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for (int j = 12; j < 16; j++)
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{
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low_cmd.motor_cmd()[j].q() = 0;
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low_cmd.motor_cmd()[j].kp() = 0;
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low_cmd.motor_cmd()[j].dq() = -3;
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low_cmd.motor_cmd()[j].kd() = Kd;
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low_cmd.motor_cmd()[j].tau() = 0;
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}
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}
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else if(_percent_3>=0.8)
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{
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for (int j = 12; j < 16; j++)
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{
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low_cmd.motor_cmd()[j].q() = 0;
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low_cmd.motor_cmd()[j].kp() = 0;
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low_cmd.motor_cmd()[j].dq() = 0;
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low_cmd.motor_cmd()[j].kd() = Kd;
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low_cmd.motor_cmd()[j].tau() = 0;
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}
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}
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}
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if ((_percent_1 == 1)&&(_percent_2 == 1)&&(_percent_3==1)&&((_percent_4<=1)))
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{
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_percent_4 += (float)1 / _duration_4;
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_percent_4 = _percent_4 > 1 ? 1 : _percent_4;
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for (int j = 0; j < 12; j++)
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{
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low_cmd.motor_cmd()[j].q() = (1 - _percent_4) * _targetPos_2[j] + _percent_4 * _targetPos_3[j];
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low_cmd.motor_cmd()[j].dq() = 0;
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low_cmd.motor_cmd()[j].kp() = Kp;
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low_cmd.motor_cmd()[j].kd() = Kd;
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low_cmd.motor_cmd()[j].tau() = 0;
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}
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}
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low_cmd.crc() = crc32_core((uint32_t *)&low_cmd, (sizeof(unitree_go::msg::dds_::LowCmd_)>>2)-1);
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lowcmd_publisher->Write(low_cmd);
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}
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}
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int main(int argc, const char** argv)
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{
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if (argc < 2)
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{
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std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl;
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exit(-1);
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}
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std::cout << "WARNING: Make sure the robot is lying on the ground." << std::endl
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<< "Press Enter to continue..." << std::endl;
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std::cin.ignore();
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ChannelFactory::Instance()->Init(0, argv[1]);
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Custom custom;
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custom.Init();
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custom.Start();
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while (1)
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{
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sleep(10);
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}
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return 0;
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}
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