feat: 初始化 Go2 导航相关代码与配置

unitree_sdk2/example/wireless_controller/main.cpp

@@ -0,0 +1,108 @@
+#include <mutex>
+
+// #include <go2_idl/WirelessController_.hpp>
+#include "unitree/idl/go2/WirelessController_.hpp"
+#include "unitree/common/thread/thread.hpp"
+#include "unitree/robot/channel/channel_subscriber.hpp"
+
+#include "advanced_gamepad.hpp"
+
+#define TOPIC_JOYSTICK "rt/wirelesscontroller"
+
+using namespace unitree::common;
+using namespace unitree::robot;
+
+class GamepadExample
+{
+public:
+    GamepadExample() {}
+
+    // setup dds model
+    void InitDdsModel(const std::string &networkInterface = "")
+    {
+        ChannelFactory::Instance()->Init(0, networkInterface);
+        joystick_subscriber.reset(new ChannelSubscriber<unitree_go::msg::dds_::WirelessController_>(TOPIC_JOYSTICK));
+
+        joystick_subscriber->InitChannel(std::bind(&GamepadExample::MessageHandler, this, std::placeholders::_1), 1);
+    }
+
+    // set gamepad dead_zone parameter
+    void SetGamepadDeadZone(float deadzone)
+    {
+        gamepad.dead_zone = deadzone;
+    }
+
+    // set gamepad smooth parameter
+    void setGamepadSmooth(float smooth)
+    {
+        gamepad.smooth = smooth;
+    }
+
+    // callback function to save joystick message
+    void MessageHandler(const void *message)
+    {
+        std::lock_guard<std::mutex> lock(joystick_mutex);
+        joystick_msg = *(unitree_go::msg::dds_::WirelessController_ *)message;
+    }
+
+    // work thread
+    void Step()
+    {
+        {
+            std::lock_guard<std::mutex> lock(joystick_mutex);
+            gamepad.Update(joystick_msg);
+        }
+
+        // some operations
+        if (gamepad.A.on_press)
+        {
+            press_count += 1;
+        }
+
+        // print gamepad state
+        std::cout << "lx: " << gamepad.lx << std::endl
+                  << "A: pressed: " << gamepad.A.pressed
+                  << "; on_press: " << gamepad.A.on_press
+                  << "; on_release: " << gamepad.A.on_release
+                  << std::endl << "press count: " << press_count
+                  << std::endl << "===========================" << std::endl;
+    }
+
+    // start the work thread
+    void Start()
+    {
+        control_thread_ptr = CreateRecurrentThreadEx("nn_ctrl", UT_CPU_ID_NONE, 40000, &GamepadExample::Step, this);
+    }
+
+protected:
+    ChannelSubscriberPtr<unitree_go::msg::dds_::WirelessController_> joystick_subscriber;
+    unitree_go::msg::dds_::WirelessController_ joystick_msg;
+
+    Gamepad gamepad;
+
+    ThreadPtr control_thread_ptr;
+
+    std::mutex joystick_mutex;
+
+    int press_count = 0;
+};
+
+int main()
+{
+    // create example object
+    GamepadExample example;
+
+    // set gamepad params
+    example.setGamepadSmooth(0.2);
+    example.SetGamepadDeadZone(0.5);
+
+    // start program
+    example.InitDdsModel();
+    example.Start();
+
+    while (1)
+    {
+        usleep(20000);
+    }
+    return 0;
+}