初始化项目，包含fast_lio_ws和unitree_sdk2

unitree_sdk2/include/unitree/dds_wrapper/robots/r1/defines.h

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+#pragma once
+
+#include <array>
+
+namespace unitree
+{
+namespace robot
+{
+namespace r1
+{
+
+enum class JointIndex
+{
+    // left leg
+    LeftHipPitch = 0,
+    LeftHipRoll,
+    LeftHipYaw,
+    LeftKnee,
+    LeftAnklePitch,
+    LeftAnkleRoll,
+
+    // right leg
+    RightHipPitch,
+    RightHipRoll,
+    RightHipYaw,
+    RightKnee,
+    RightAnklePitch,
+    RightAnkleRoll,
+
+    WaistRoll,
+    WaistYaw,
+    // no pitch
+
+    // left arm
+    LeftShoulderPitch = 15,
+    LeftShoulderRoll,
+    LeftShoulderYaw,
+    LeftElbow,
+    LeftWristRoll,
+
+    // right arm
+    RightShoulderPitch = 22,
+    RightShoulderRoll,
+    RightShoulderYaw,
+    RightElbow,
+    RightWristRoll,
+
+    // head
+    HeadPitch = 29,
+    HeadYaw,
+};
+
+
+} // namespace r1
+} // namespace robot
+} // namespace unitree

unitree_sdk2/include/unitree/dds_wrapper/robots/r1/r1.h

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+#pragma once
+
+#include "unitree/dds_wrapper/robots/r1/r1_pub.h"
+
+namespace unitree
+{
+namespace robot
+{
+namespace r1
+{
+
+
+} // namespace r1
+} // namespace robot
+} // namespace unitree

unitree_sdk2/include/unitree/dds_wrapper/robots/r1/r1_pub.h

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+#pragma once
+
+#include <eigen3/Eigen/Dense>
+#include <unitree/dds_wrapper/common/Publisher.h>
+#include <unitree/idl/hg/LowCmd_.hpp>
+#include "defines.h"
+
+namespace unitree
+{
+namespace robot
+{
+namespace r1
+{
+namespace publisher
+{
+
+class ArmSdk : public RealTimePublisher<unitree_hg::msg::dds_::LowCmd_>
+{
+public:
+    ArmSdk(std::string topic = "rt/arm_sdk") : RealTimePublisher<MsgType>(topic) 
+    {
+    }
+
+    void weight(float coe) { msg_.mode_pr() = std::clamp(int(coe * 100.0f), 0, 100); }
+
+    float weight() const { return float(msg_.mode_pr()) / 100.0; }
+
+    static constexpr std::array<JointIndex, 13> JOINTS = {
+        JointIndex::LeftShoulderPitch, 
+        JointIndex::LeftShoulderRoll,
+        JointIndex::LeftShoulderYaw,   
+        JointIndex::LeftElbow,
+        JointIndex::LeftWristRoll,     
+        JointIndex::RightShoulderPitch,
+        JointIndex::RightShoulderRoll, 
+        JointIndex::RightShoulderYaw,
+        JointIndex::RightElbow,        
+        JointIndex::RightWristRoll,
+        JointIndex::WaistYaw,          
+        JointIndex::HeadPitch,
+        JointIndex::HeadYaw,
+    };
+};
+
+}
+}
+}
+}