104 lines
5.5 KiB
Markdown
Executable File
104 lines
5.5 KiB
Markdown
Executable File
<a name="unreleased"></a>
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## [Unreleased]
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<a name="v0.3.0"></a>
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## [v0.3.0] - 2025-08-15
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### Bug Fixes
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- **ros2:** fix the bug in `Ros2 Foxy` where `topic_datistics_collector` did not determine the `header` type and directly used `headers.stamp`, the `Humble` feature was marked in `v0.2.0` and can now be used in `Foxy` as well
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### Examples
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- **example:** add `g1_audio_client_example`
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- **example:** add `g1_dual_arm_example`
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- **example:** add `g1_ankle_swing_example`
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- **example:** add `g1_loco_client_example`
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- **example:** add `g1_arm_action_example`
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- **example:** add `g1_arm_sdk_dds_example`
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### Features
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- **g1:** add dex3 example, modify the dds msg to align with sdk2
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### BREAKING CHANGE
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- `HandCmd.msg` `HandState.msg` `PressSensorState.msg` in `cyclonedds_ws/src/unitree/unitree_hg/msg/` has been modified to align to sdk2,you can view the corresponding file to check the modification items.There is no recommended iteration method, you can update according to your own usage.
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<a name="v0.2.0"></a>
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## [v0.2.0] - 2025-07-29
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### Examples
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- **example:** add go2 stand example
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- **example:** add go2 sport client example
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### Features
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- **deprecate:** delete deprecated functions that are no longer supported
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- **go2:** add support for RobotStateClient on ROS 2 Humble
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Now the APIs in the following list are supported:
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| name | value | example | ros2 version|
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| :------------------------------------ | :---- | :----------------------------------------------------------- | :------- |
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| ROBOT_STATE_API_ID_SERVICE_SWITCH| 1001 | int32_t RobotStateClient::ServiceSwitch(); | humble |
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| ROBOT_STATE_API_ID_SET_REPORT_FREQ| 1002 | int32_t RobotStateClient::SetReportFreq(); | humble |
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| ROBOT_STATE_API_ID_SERVICE_LIST| 1003 | int32_t RobotStateClient::ServiceList(); | humble |
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At the same time, you can also refer to the API implementation in `example/src/src/common/ros2_robot_state_client.cpp` to communicate with Go2 using ROS2 on your own. An example is in the file` example/src/src/go2/g2_robot_state_client.cpp`.
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- **go2:** add some new supported go2 sports APIs
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Now the APIs in the following list are supported:
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| name | value | example | ros2 version |
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| :------------------------------------ | :---- | :----------------------------------------------------------- | :---- |
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| ROBOT_SPORT_API_ID_HEART | 1036 | void SportClient::Heart(); | foxy humble |
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| ROBOT_SPORT_API_ID_STATICWALK | 1061 | void SportClient::StaticWalk(); | foxy humble |
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| ROBOT_SPORT_API_ID_TROTRUN | 1062 | void SportClient::TrotRun(); | foxy humble |
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| ROBOT_SPORT_API_ID_ECONOMICGAIT | 1063 | void SportClient::EconomicGait(); | foxy humble |
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| ROBOT_SPORT_API_ID_LEFTFLIP | 2041 | void SportClient::LeftFlip(); | foxy humble |
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| ROBOT_SPORT_API_ID_BACKFLIP | 2043 | void SportClient::BackFlip(); | foxy humble |
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| ROBOT_SPORT_API_ID_HANDSTAND | 2044 | void SportClient::HandStand(); | foxy humble |
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| ROBOT_SPORT_API_ID_FREEWALK | 2045 | void SportClient::FreeWalk(); | foxy humble |
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| ROBOT_SPORT_API_ID_FREEBOUND | 2046 | void SportClient::FreeBound(); | foxy humble |
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| ROBOT_SPORT_API_ID_FREEJUMP | 2047 | void SportClient::FreeJump(); | foxy humble |
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| ROBOT_SPORT_API_ID_FREEAVOID | 2048 | void SportClient::FreeAvoid(); | foxy humble |
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| ROBOT_SPORT_API_ID_CLASSICWALK | 2049 | void SportClient::ClassicWalk(); | foxy humble |
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| ROBOT_SPORT_API_ID_WALKUPRIGHT | 2050 | void SportClient::WalkUpright(); | foxy humble |
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| ROBOT_SPORT_API_ID_CROSSSTEP | 2051 | void SportClient::CrossStep(); | foxy humble |
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| ROBOT_SPORT_API_ID_AUTORECOVERY_SET | 2054 | void SportClient::AutoRecoverySet(); | foxy humble |
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| ROBOT_SPORT_API_ID_AUTORECOVERY_GET | 2055 | void SportClient::AutoRecoveryGet(); | humble |
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| ROBOT_SPORT_API_ID_SWITCHAVOIDMODE | 2058 | void SportClient::SwitchAvoidMode(); | foxy humble |
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At the same time, you can also refer to the API implementation in `example/src/src/common/ros2.sport_cient.cpp` to communicate with Go2 using ROS2 on your own. An example is in the file `example/src/src/go2/go2_Sport_cient.cpp`.
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### BREAKING CHANGE
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- The functions or API IDs in the following list are no longer supported. If you need to use a new version, please remove the following references:
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| API ID | Macro Definition | Function Name |
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| :----- | :------------------------------------ | :------------------- |
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| 1011 | ROBOT_SPORT_API_ID_SWITCHGAIT | SwitchGait() |
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| 1012 | ROBOT_SPORT_API_ID_TRIGGER | Trigger() |
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| 1013 | ROBOT_SPORT_API_ID_BODYHEIGHT | BodyHeight() |
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| 1014 | ROBOT_SPORT_API_ID_FOOTRAISEHEIGHT | FootRaiseHeight() |
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| 1018 | ROBOT_SPORT_API_ID_TRAJECTORYFOLLOW | TrajectoryFollow() |
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| 1019 | ROBOT_SPORT_API_ID_CONTINUOUSGAIT | ContinuousGait() |
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| 1021 | ROBOT_SPORT_API_ID_WALLOW | Wallow() |
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| 1024 | ROBOT_SPORT_API_ID_GETBODYHEIGHT | (No direct function) |
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| 1025 | ROBOT_SPORT_API_ID_GETFOOTRAISEHEIGHT | (No direct function) |
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| 1026 | ROBOT_SPORT_API_ID_GETSPEEDLEVEL | (No direct function) |
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<a name="v0.1.0"></a>
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## v0.1.0 - 2025-07-23
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[Unreleased]: https://github.com/unitreerobotics/unitree_ros2/compare/v0.3.0...HEAD
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[v0.3.0]: https://github.com/unitreerobotics/unitree_ros2/compare/v0.2.0...v0.3.0
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[v0.2.0]: https://github.com/unitreerobotics/unitree_ros2/compare/v0.1.0...v0.2.0
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