初始化项目，包含fast_lio_ws和unitree_sdk2

2026-10-12 15:01:52 +08:00
commit 8e16ecceba
1490 changed files with 232338 additions and 0 deletions
--- a/unitree_sdk2/example/go2/go2_robot_state_client.cpp
+++ b/unitree_sdk2/example/go2/go2_robot_state_client.cpp
@@ -0,0 +1,82 @@
+#include <unitree/robot/go2/robot_state/robot_state_client.hpp>
+#include <unitree/common/time/time_tool.hpp>
+
+using namespace unitree::common;
+using namespace unitree::robot;
+using namespace unitree::robot::go2;
+
+int main(int32_t argc, const char** argv)
+{
+    if (argc < 2)
+    {
+        std::cout << "Usage: robot_state_client_example [NetWorkInterface(eth0)] [ServiceName(sport_mode)]" << std::endl;
+        exit(0);
+    }
+
+    std::string networkInterface = "eth0", serviceName = "sport_mode";
+
+    if (argc > 1)
+    {
+        networkInterface = argv[1];
+    }
+
+    if (argc > 2)
+    {
+        serviceName = argv[2];
+    }
+
+    std::cout << "NetWorkInterface:" << networkInterface << std::endl;
+    std::cout << "Switch ServiceName:" << serviceName << std::endl; 
+
+    ChannelFactory::Instance()->Init(0, networkInterface);
+
+    RobotStateClient rsc;
+    rsc.SetTimeout(10.0f);
+    rsc.Init();
+
+    std::string clientApiVersion = rsc.GetApiVersion();
+    std::string serverApiVersion = rsc.GetServerApiVersion();
+
+    if (clientApiVersion != serverApiVersion)
+    {
+        std::cout << "client and server api versions are not equal." << std::endl;
+    }
+
+    Timer timer;
+
+    int32_t status;
+    int32_t ret = rsc.SetReportFreq(3, 30);
+    std::cout << "Call SetReportFreq[3,30] ret:" << ret << ", cost:" << timer.Stop() << " (us)" << std::endl;
+
+    sleep(5);
+    timer.Restart();
+
+    ret = rsc.ServiceSwitch(serviceName, 0, status);
+    std::cout << "Call ServiceSwitch[" << serviceName << ",0] ret:" << ret << ", cost:" << timer.Stop() << " (us)" << std::endl;
+
+    sleep(5);
+    timer.Restart();
+
+    ret = rsc.ServiceSwitch(serviceName, 1, status);
+    std::cout << "Call ServiceSwitch[" << serviceName << ",1] ret:" << ret << ", cost:" << timer.Stop() << " (us)" << std::endl;
+
+    sleep(5);
+    timer.Restart();
+
+    std::vector<ServiceState> serviceStateList;
+    ret = rsc.ServiceList(serviceStateList);
+    std::cout << "Call ServiceList ret:" << ret << ", cost:" << timer.Stop() << " (us)" << std::endl;
+
+    size_t i, count=serviceStateList.size();
+    std::cout << "serviceStateList size:" << count << std::endl;
+
+    for (i=0; i<count; i++)
+    {
+        const ServiceState& serviceState = serviceStateList[i];
+        std::cout << "name:" << serviceState.name << ", status:" << serviceState.status << ", protect:" << serviceState.protect << std::endl;
+    }
+
+    ChannelFactory::Instance()->Release();
+
+    return 0;
+}