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