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初始化项目，包含fast_lio_ws和unitree_sdk2

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龙正扬应用学生后端
2026-10-12 15:01:52 +08:00
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54
unitree_sdk2/include/unitree/robot/a2/sport/sport_api.hpp Normal file
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#ifndef __UT_ROBOT_A2_SPORT_API_HPP__
#define __UT_ROBOT_A2_SPORT_API_HPP__
#include <unitree/common/json/jsonize.hpp>
namespace unitree
{
namespace robot
{
namespace a2
{
/*service name*/
const std::string ROBOT_SPORT_SERVICE_NAME = "sport";
/*api version*/
const std::string ROBOT_SPORT_API_VERSION = "1.0.0.1";
/*api id*/
// Set motion
const int32_t ROBOT_SPORT_API_ID_DAMP = 1001;
const int32_t ROBOT_SPORT_API_ID_BALANCESTAND = 1002;
const int32_t ROBOT_SPORT_API_ID_STOPMOVE = 1003;
const int32_t ROBOT_SPORT_API_ID_STANDUP = 1004;
const int32_t ROBOT_SPORT_API_ID_STANDDOWN = 1005;
const int32_t ROBOT_SPORT_API_ID_RECOVERYSTAND = 1006;
const int32_t ROBOT_SPORT_API_ID_EULER = 1007;
const int32_t ROBOT_SPORT_API_ID_MOVE = 1008;
const int32_t ROBOT_SPORT_API_ID_BODYPOSITION = 1009;
const int32_t ROBOT_SPORT_API_ID_SWITCHGAIT = 1011;
const int32_t ROBOT_SPORT_API_ID_BODYHEIGHT = 1013;
const int32_t ROBOT_SPORT_API_ID_SPEEDLEVEL = 1015;
const int32_t ROBOT_SPORT_API_ID_LEFTSIDEGAIT = 1016;
const int32_t ROBOT_SPORT_API_ID_RIGHTSIDEGAIT = 1017;
const int32_t ROBOT_SPORT_API_ID_HANDSTAND = 1018;
const int32_t ROBOT_SPORT_API_ID_BIPEDSTAND = 1019;
const int32_t ROBOT_SPORT_API_ID_FRONTFLIP = 1020;
const int32_t ROBOT_SPORT_API_ID_BACKFLIP = 1021;
const int32_t ROBOT_SPORT_API_ID_SETAUTORECOVERY = 1040;
const int32_t ROBOT_SPORT_API_ID_RESET_ESTIMATOR = 1111;
// Get state
const int32_t ROBOT_SPORT_API_ID_GETSTATE = 1034;
// Trajectory
const int32_t ROBOT_SPORT_API_ID_TRAJECTORY = 1035;
}
}
}
#endif //__UT_ROBOT_A2_SPORT_API_HPP__

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unitree_sdk2/include/unitree/robot/a2/sport/sport_client.hpp Normal file
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#ifndef __UT_ROBOT_A2_SPORT_CLIENT_HPP__
#define __UT_ROBOT_A2_SPORT_CLIENT_HPP__
#include <limits>
#include <unitree/robot/client/client.hpp>
#include <unitree/robot/go2/public/jsonize_type.hpp>
#include "sport_api.hpp"
namespace unitree
{
namespace robot
{
namespace a2
{
const int ID_PASSIVE = 0;
const int ID_STAND_DOWN = 1;
const int ID_STAND_UP = 2;
const int ID_DEFAULT_MODE = 3;
const int ID_RUNNING_MODE = 4;
const int ID_CLIMB_MODE = 5;
const int ID_LEFT_SIDE_GAIT = 6;
const int ID_RIGHT_SIDE_GAIT = 7;
const int ID_HANDSTAND = 8;
const int ID_BIPED_STAND = 9;
const int ID_FRONT_FLIP = 10;
const int ID_BACK_FLIP = 11;
const int ID_RECOVERY = 12;
const int ID_BASE_HEIGHT_CTRL = 13;
const int ID_POSE = 14;
const int ID_EULER = 15;
class PoseVec4 : public common::Jsonize
{
public:
PoseVec4() : x(0.0F), y(0.0F), z(0.0F), yaw(0.0F)
{
}
~PoseVec4()
{
}
void fromJson(common::JsonMap &json)
{
common::FromJson(json["x"], x);
common::FromJson(json["y"], y);
common::FromJson(json["z"], z);
common::FromJson(json["yaw"], yaw);
}
void toJson(common::JsonMap &json) const
{
common::ToJson(x, json["x"]);
common::ToJson(y, json["y"]);
common::ToJson(z, json["z"]);
common::ToJson(yaw, json["yaw"]);
}
public:
float x;
float y;
float z;
float yaw;
};
struct PathPoint
{
float t_from_start = 0;
float x = 0;
float y = 0;
float yaw = 0;
};
class SportClient : public Client
{
public:
SportClient() : Client(ROBOT_SPORT_SERVICE_NAME, false) {}
~SportClient() {}
/*Init*/
void Init()
{
SetApiVersion(ROBOT_SPORT_API_VERSION);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_DAMP);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_BALANCESTAND);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_STOPMOVE);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_STANDUP);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_STANDDOWN);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_RECOVERYSTAND);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_EULER);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_MOVE);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_SWITCHGAIT);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_BODYHEIGHT);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_SPEEDLEVEL);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_SETAUTORECOVERY);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_BODYPOSITION);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_LEFTSIDEGAIT);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_RIGHTSIDEGAIT);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_HANDSTAND);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_BIPEDSTAND);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_FRONTFLIP);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_BACKFLIP);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_RESET_ESTIMATOR);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_GETSTATE);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_TRAJECTORY);
}
/*High Level API Call*/
int32_t Damp()
{
std::string parameter, data;
return Call(ROBOT_SPORT_API_ID_DAMP, parameter, data);
}
int32_t BalanceStand()
{
std::string parameter, data;
return Call(ROBOT_SPORT_API_ID_BALANCESTAND, parameter, data);
}
int32_t StopMove()
{
std::string parameter, data;
return Call(ROBOT_SPORT_API_ID_STOPMOVE, parameter, data);
}
int32_t StandUp()
{
std::string parameter, data;
return Call(ROBOT_SPORT_API_ID_STANDUP, parameter, data);
}
int32_t StandDown()
{
std::string parameter, data;
return Call(ROBOT_SPORT_API_ID_STANDDOWN, parameter, data);
}
int32_t RecoveryStand()
{
std::string parameter, data;
return Call(ROBOT_SPORT_API_ID_RECOVERYSTAND, parameter, data);
}
int32_t Euler(float roll, float pitch, float yaw)
{
std::string parameter, data;
go2::JsonizeVec3 json;
json.x = roll;
json.y = pitch;
json.z = yaw;
parameter = common::ToJsonString(json);
return Call(ROBOT_SPORT_API_ID_EULER, parameter, data);
}
int32_t Move(float vx, float vy, float vyaw)
{
std::string parameter, data;
go2::JsonizeVec3 json;
json.x = vx;
json.y = vy;
json.z = vyaw;
parameter = common::ToJsonString(json);
return Call(ROBOT_SPORT_API_ID_MOVE, parameter, data);
}
int32_t SwitchGait(int gait_type)
{
std::string parameter, data;
go2::JsonizeDataInt json;
json.data = gait_type;
parameter = common::ToJsonString(json);
return Call(ROBOT_SPORT_API_ID_SWITCHGAIT, parameter, data);
}
int32_t BodyHeight(float height)
{
std::string parameter, data;
go2::JsonizeDataFloat json;
json.data = height;
parameter = common::ToJsonString(json);
return Call(ROBOT_SPORT_API_ID_BODYHEIGHT, parameter, data);
}
int32_t SpeedLevel(int level)
{
std::string parameter, data;
go2::JsonizeDataInt json;
json.data = level;
parameter = common::ToJsonString(json);
return Call(ROBOT_SPORT_API_ID_SPEEDLEVEL, parameter, data);
}
int32_t BodyPosition(float x, float y, float z, float yaw)
{
std::string parameter, data;
PoseVec4 json;
json.x = x;
json.y = y;
json.z = z;
json.yaw = yaw;
parameter = common::ToJsonString(json);
return Call(ROBOT_SPORT_API_ID_BODYPOSITION, parameter, data);
}
int32_t LeftSideGait(int enter)
{
std::string parameter, data;
go2::JsonizeDataInt json;
json.data = enter;
parameter = common::ToJsonString(json);
return Call(ROBOT_SPORT_API_ID_LEFTSIDEGAIT, parameter, data);
}
int32_t RightSideGait(int enter)
{
std::string parameter, data;
go2::JsonizeDataInt json;
json.data = enter;
parameter = common::ToJsonString(json);
return Call(ROBOT_SPORT_API_ID_RIGHTSIDEGAIT, parameter, data);
}
int32_t HandStand(int enter)
{
std::string parameter, data;
go2::JsonizeDataInt json;
json.data = enter;
parameter = common::ToJsonString(json);
return Call(ROBOT_SPORT_API_ID_HANDSTAND, parameter, data);
}
int32_t BipedStand(int enter)
{
std::string parameter, data;
go2::JsonizeDataInt json;
json.data = enter;
parameter = common::ToJsonString(json);
return Call(ROBOT_SPORT_API_ID_BIPEDSTAND, parameter, data);
}
int32_t FrontFlip()
{
std::string parameter, data;
return Call(ROBOT_SPORT_API_ID_FRONTFLIP, parameter, data);
}
int32_t BackFlip()
{
std::string parameter, data;
return Call(ROBOT_SPORT_API_ID_BACKFLIP, parameter, data);
}
int32_t ResetEstimator()
{
std::string parameter, data;
return Call(ROBOT_SPORT_API_ID_RESET_ESTIMATOR, parameter, data);
}
int32_t Trajectory(const std::vector<PathPoint> &path, int feedback_mode = 0,
float external_x = 0, float external_y = 0, float external_yaw = 0)
{
std::string parameter, data;
common::JsonMap json;
common::JsonArray json_path;
for (const auto &pt : path)
{
common::JsonMap pt_json;
common::ToJson(pt.t_from_start, pt_json["t_from_start"]);
common::ToJson(pt.x, pt_json["x"]);
common::ToJson(pt.y, pt_json["y"]);
common::ToJson(pt.yaw, pt_json["yaw"]);
json_path.push_back(pt_json);
}
common::ToJson(json_path, json["path"]);
common::ToJson(feedback_mode, json["feedback_mode"]);
common::ToJson(external_x, json["external_x"]);
common::ToJson(external_y, json["external_y"]);
common::ToJson(external_yaw, json["external_yaw"]);
parameter = common::ToJsonString(json);
return Call(ROBOT_SPORT_API_ID_TRAJECTORY, parameter, data);
}
int32_t SetAutoRecovery(int switch_on)
{
std::string parameter, data;
go2::JsonizeDataInt json;
json.data = switch_on;
parameter = common::ToJsonString(json);
return Call(ROBOT_SPORT_API_ID_SETAUTORECOVERY, parameter, data);
}
int32_t GetState(std::map<std::string, std::string> &state_map)
{
std::string parameter, data;
int32_t ret = Call(ROBOT_SPORT_API_ID_GETSTATE, parameter, data);
common::FromJsonString(data, state_map);
return ret;
}
};
} // namespace a2
} // namespace robot
} // namespace unitree
#endif // __UT_ROBOT_A2_LOCO_CLIENT_HPP__

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unitree_sdk2/include/unitree/robot/a2/sport/sport_error.hpp Normal file
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#ifndef __UT_ROBOT_A2_SPORT_ERROR_HPP__
#define __UT_ROBOT_A2_SPORT_ERROR_HPP__
#include <unitree/common/decl.hpp>
namespace unitree
{
namespace robot
{
namespace a2
{
UT_DECL_ERR(UT_ROBOT_SPORT_ERR_SERVER_OVERTIME, 4201, "server overtime.")
UT_DECL_ERR(UT_ROBOT_SPORT_ERR_SERVER_NOT_INIT, 4205, "server function not init.")
}
}
}
#endif//__UT_ROBOT_A2_SPORT_ERROR_HPP__