feat: 初始化 Go2 导航相关代码与配置

unitree_sdk2/include/unitree/robot/g1/agv/g1_agv_api.hpp

@@ -0,0 +1,60 @@
+#ifndef __UT_ROBOT_G1_AGV_API_HPP__
+#define __UT_ROBOT_G1_AGV_API_HPP__
+
+#include <unitree/common/json/jsonize.hpp>
+
+using namespace unitree::common;
+
+namespace unitree
+{
+namespace robot
+{
+namespace g1
+{
+/*service name*/
+const std::string AGV_SERVICE_NAME = "agv";
+
+/*api version*/
+const std::string AGV_API_VERSION = "1.0.0.1";
+
+/*api id*/
+const int32_t ROBOT_API_ID_AGV_MOVE = 1001;
+const int32_t ROBOT_API_ID_AGV_HEIGHT_ADJUST = 1002;
+
+
+class MoveParameter : public Jsonize
+{
+public:
+    MoveParameter() :
+        vx(0.0), vy(0.0), vyaw(0.0)
+    {}
+
+    ~MoveParameter()
+    {}
+
+public:
+    void fromJson(JsonMap& json)
+    {
+        FromJson(json["vx"], vx);
+        FromJson(json["vy"], vy);
+        FromJson(json["vyaw"], vyaw);
+    }
+
+    void toJson(JsonMap& json) const
+    {
+        ToJson(vx, json["vx"]);
+        ToJson(vy, json["vy"]);
+        ToJson(vyaw, json["vyaw"]);
+    }
+
+public:
+    float vx;
+    float vy;
+    float vyaw;
+};
+
+}   //namespace agv
+}   //namespace robot
+}   //namespace unitree
+
+#endif  // __UT_ROBOT_G1_AGV_API_HPP__

unitree_sdk2/include/unitree/robot/g1/agv/g1_agv_client.hpp

@@ -0,0 +1,109 @@
+#ifndef __UT_ROBOT_G1_AGV_CLIENT_HPP__
+#define __UT_ROBOT_G1_AGV_CLIENT_HPP__
+
+#include <unitree/robot/client/client.hpp>
+#include <unitree/robot/go2/public/jsonize_type.hpp>
+#include "g1_agv_api.hpp"
+
+namespace unitree {
+namespace robot {
+namespace g1 {
+
+
+class AgvClient : public Client {
+public:
+    AgvClient() : Client(AGV_SERVICE_NAME, false) {}
+    ~AgvClient() {}
+
+    /*Init*/
+    void Init() {
+        SetApiVersion(AGV_API_VERSION);
+        UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AGV_MOVE);
+        UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AGV_HEIGHT_ADJUST);
+    };
+
+    /*API Call*/
+    /**
+    * @brief Linear and angular velocity control interface
+    * 
+    * Mechanical Parameters:
+    *   - Max Linear Velocity: 1.5 m/s
+    *   - Max Angular Velocity: 0.6 rad/s
+    * 
+    * Control Mapping:
+    *   - vx: linear velocity in x direction
+    *       Range: [-1.5, 1.5] m/s
+    *       Positive value: move forward
+    *       Negative value: move backward
+    *       Zero: stop linear motion
+    *   - vy: lateral velocity in y direction (not supported for AGV, ignored)
+    *   - vyaw: angular velocity around z axis (rotation)
+    *       Range: [-0.6, 0.6] rad/s
+    *       Positive value: rotate counter-clockwise
+    *       Negative value: rotate clockwise
+    *       Zero: stop rotation
+    * 
+    * @param vx Linear velocity in x direction, unit: m/s, range: [-1.5, 1.5]
+    * @param vy Lateral velocity in y direction (not used for AGV, pass 0.0)
+    * @param vyaw Angular velocity around z axis, unit: rad/s, range: [-0.6, 0.6]
+    * @return 0 on success, -1 on failure (not initialized or communication error)
+    * 
+    * @note Call Init() before using this function
+    * @note This function is non-blocking and returns immediately after sending the command
+    * @example
+    *   ac.Move(0.5f, 0.0f, 0.3f);  // Move forward at 0.5 m/s and rotate at 0.3 rad/s
+    */
+    int32_t Move(float vx, float vy, float vyaw) {
+        MoveParameter param;
+
+        param.vx = vx;
+        param.vy = vy;
+        param.vyaw = vyaw;
+
+        std::string parameter = common::ToJsonString(param);
+        std::string data;
+
+        return Call(ROBOT_API_ID_AGV_MOVE, parameter, data);
+    }
+
+    /**
+    * @brief Height column velocity control interface
+    * 
+    * Mechanical Parameters:
+    *   - Max Column Velocity: 76.5 mm/s (0.0765 m/s)
+    * 
+    * Normalized Linear Mapping (vz value → column velocity):
+    *   The input vz is normalized [-1.0, +1.0] and linearly mapped to column velocity.
+    *   Formula: column_velocity(mm/s) = vz × 76.5   
+    *       vz = +1.0  →  +76.5 mm/s  (max rise)
+    *       vz =  0.0  →  0 mm/s      (stop)
+    *       vz = -1.0  →  -76.5 mm/s  (max descent)
+    * 
+     * Linear Mapping Benefits:
+    *   - Intuitive control: proportional input produces proportional output
+    *   - Predictable behavior: 0.5 input always gives exactly 50% of max velocity
+    *   - Hardware independent: easy to adapt when motor parameters change
+    *   - Simple conversion: column_velocity = normalized_input × max_velocity_constant
+    
+    * @param vz Height velocity command (range: [-1.0 , +1.0])
+    * @return 0 on success, -1 on failure
+    * 
+    * @note Only z component is used, transmitted via DDS protocol to motor controller
+    */
+    int32_t HeightAdjust(float vz) {
+        std::string parameter, data;
+
+        go2::JsonizeDataFloat json;
+        json.data = vz;
+
+        parameter = common::ToJsonString(json);
+
+        return Call(ROBOT_API_ID_AGV_HEIGHT_ADJUST, parameter, data);
+    }
+};
+}  // namespace g1
+
+}  // namespace robot
+}  // namespace unitree
+
+#endif // __UT_ROBOT_G1_AGV_CLIENT_HPP__

unitree_sdk2/include/unitree/robot/g1/agv/g1_agv_error.hpp

@@ -0,0 +1,21 @@
+#ifndef __UT_ROBOT_G1_AGV_ERROR_HPP__
+#define __UT_ROBOT_G1_AGV_ERROR_HPP__
+
+#include <unitree/common/decl.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+namespace g1
+{
+
+UT_DECL_ERR(UT_ROBOT_G1_AGV_ERR_NOT_INIT,   9101,   "Module not initialized.")
+UT_DECL_ERR(UT_ROBOT_G1_AGV_ERR_EXEC_MOVE,   9102,   "Failed to execute move command.")
+UT_DECL_ERR(UT_ROBOT_G1_AGV_ERR_EXEC_HEIGHT_ADJUST,   9103,   "Failed to execute height adjust command.")
+
+}
+}
+}
+
+#endif // __UT_ROBOT_G1_AGV_ERROR_HPP__