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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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61
unitree_sdk2/include/unitree/robot/as2/sport/sport_api.hpp Normal file
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#ifndef __UT_ROBOT_AS2_SPORT_API_HPP__
#define __UT_ROBOT_AS2_SPORT_API_HPP__
#include <unitree/common/json/jsonize.hpp>
namespace unitree
{
namespace robot
{
namespace as2
{
/*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_GREETING = 1022;
const int32_t ROBOT_SPORT_API_ID_HEART = 1023;
const int32_t ROBOT_SPORT_API_ID_CONTENT = 1024;
const int32_t ROBOT_SPORT_API_ID_DANCE1 = 1025;
const int32_t ROBOT_SPORT_API_ID_DANCE2 = 1026;
const int32_t ROBOT_SPORT_API_ID_HANDSHAKE = 1027;
const int32_t ROBOT_SPORT_API_ID_STRETCH = 1028;
const int32_t ROBOT_SPORT_API_ID_SIT = 1029;
const int32_t ROBOT_SPORT_API_ID_FRONTJUMP = 1030;
const int32_t ROBOT_SPORT_API_ID_PUSHUP = 1031;
const int32_t ROBOT_SPORT_API_ID_UPJUMP = 1032;
const int32_t ROBOT_SPORT_API_ID_SETAUTORECOVERY = 1040;
const int32_t ROBOT_SPORT_API_ID_SWITCHJOYSTICK = 1041;
// Get state
const int32_t ROBOT_SPORT_API_ID_GETSTATE = 1034;
}
}
}
#endif //__UT_ROBOT_As2_SPORT_API_HPP__

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unitree_sdk2/include/unitree/robot/as2/sport/sport_client.hpp Normal file
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#ifndef __UT_ROBOT_AS2_SPORT_CLIENT_HPP__
#define __UT_ROBOT_AS2_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 as2
{
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;
};
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_GREETING);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_HEART);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_CONTENT);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_DANCE1);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_DANCE2);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_HANDSHAKE);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_STRETCH);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_SIT);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_FRONTJUMP);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_PUSHUP);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_UPJUMP);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_SWITCHJOYSTICK);
UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_GETSTATE);
}
/*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 Greeting()
{
std::string parameter, data;
return Call(ROBOT_SPORT_API_ID_GREETING, parameter, data);
}
int32_t Heart()
{
std::string parameter, data;
return Call(ROBOT_SPORT_API_ID_HEART, parameter, data);
}
int32_t Content()
{
std::string parameter, data;
return Call(ROBOT_SPORT_API_ID_CONTENT, parameter, data);
}
int32_t Dance1()
{
std::string parameter, data;
return Call(ROBOT_SPORT_API_ID_DANCE1, parameter, data);
}
int32_t Dance2()
{
std::string parameter, data;
return Call(ROBOT_SPORT_API_ID_DANCE2, parameter, data);
}
int32_t Handshake()
{
std::string parameter, data;
return Call(ROBOT_SPORT_API_ID_HANDSHAKE, parameter, data);
}
int32_t Stretch()
{
std::string parameter, data;
return Call(ROBOT_SPORT_API_ID_STRETCH, parameter, data);
}
int32_t Sit(int enter)
{
std::string parameter, data;
go2::JsonizeDataInt json;
json.data = enter;
parameter = common::ToJsonString(json);
return Call(ROBOT_SPORT_API_ID_SIT, parameter, data);
}
int32_t FrontJump()
{
std::string parameter, data;
return Call(ROBOT_SPORT_API_ID_FRONTJUMP, parameter, data);
}
int32_t PushUp()
{
std::string parameter, data;
return Call(ROBOT_SPORT_API_ID_PUSHUP, parameter, data);
}
int32_t UpJump()
{
std::string parameter, data;
return Call(ROBOT_SPORT_API_ID_UPJUMP, 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 SwitchJoystick(int switch_on)
{
std::string parameter, data;
go2::JsonizeDataInt json;
json.data = switch_on;
parameter = common::ToJsonString(json);
return Call(ROBOT_SPORT_API_ID_SWITCHJOYSTICK, 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 as2
} // namespace robot
} // namespace unitree
#endif // __UT_ROBOT_AS2_LOCO_CLIENT_HPP__

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unitree_sdk2/include/unitree/robot/as2/sport/sport_error.hpp Normal file
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#ifndef __UT_ROBOT_AS2_SPORT_ERROR_HPP__
#define __UT_ROBOT_AS2_SPORT_ERROR_HPP__
#include <unitree/common/decl.hpp>
namespace unitree
{
namespace robot
{
namespace as2
{
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_AS2_SPORT_ERROR_HPP__