feat: 初始化 Go2 导航相关代码与配置

unitree_sdk2/include/unitree/robot/h2/arm/h2_arm_action_api.hpp

@@ -0,0 +1,48 @@
+#pragma once
+
+#include <cstdint>
+#include <string>
+
+#include <unitree/common/json/jsonize.hpp>
+
+namespace unitree {
+namespace robot {
+namespace h2 {
+
+const std::string ARM_ACTION_SERVICE_NAME = "arm";
+const std::string ARM_ACTION_API_VERSION = "1.0.0.14";
+
+const int32_t ROBOT_API_ID_ARM_ACTION_EXECUTE_ACTION = 7106;
+const int32_t ROBOT_API_ID_ARM_ACTION_GET_ACTION_LIST = 7107;
+const int32_t ROBOT_API_ID_ARM_ACTION_EXECUTE_CUSTOM_ACTION = 7108;
+const int32_t ROBOT_API_ID_ARM_ACTION_STOP_CUSTOM_ACTION = 7113;
+
+class JsonizeArmActionCommand : public common::Jsonize {
+ public:
+  void fromJson(common::JsonMap& json) override {
+    common::FromJson(json["action_id"], action_id);
+  }
+
+  void toJson(common::JsonMap& json) const override {
+    common::ToJson(action_id, json["action_id"]);
+  }
+
+  int32_t action_id = 0;
+};
+
+class JsonizeArmActionName : public common::Jsonize {
+ public:
+  void fromJson(common::JsonMap& json) override {
+    common::FromJson(json["action_name"], action_name);
+  }
+
+  void toJson(common::JsonMap& json) const override {
+    common::ToJson(action_name, json["action_name"]);
+  }
+
+  std::string action_name;
+};
+
+}  // namespace h2
+}  // namespace robot
+}  // namespace unitree

unitree_sdk2/include/unitree/robot/h2/arm/h2_arm_action_client.hpp

@@ -0,0 +1,78 @@
+#pragma once
+
+#include <cstdint>
+#include <map>
+#include <string>
+
+#include <unitree/robot/client/client.hpp>
+
+#include "h2_arm_action_api.hpp"
+
+namespace unitree {
+namespace robot {
+namespace h2 {
+
+/**
+ * @brief Client for requesting preset H2 upper-body actions.
+ *
+ * The matching robot-side "arm" service generates the trajectory and sends it
+ * through rt/arm_sdk. This client sends action requests over RPC and does not
+ * generate joint trajectories itself.
+ */
+class H2ArmActionClient : public Client {
+ public:
+  H2ArmActionClient() : Client(ARM_ACTION_SERVICE_NAME, false) {}
+
+  void Init() {
+    SetApiVersion(ARM_ACTION_API_VERSION);
+    UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_ARM_ACTION_EXECUTE_ACTION);
+    UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_ARM_ACTION_GET_ACTION_LIST);
+    UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_ARM_ACTION_EXECUTE_CUSTOM_ACTION);
+    UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_ARM_ACTION_STOP_CUSTOM_ACTION);
+  }
+
+  int32_t ExecuteAction(int32_t action_id) {
+    JsonizeArmActionCommand command;
+    command.action_id = action_id;
+
+    std::string data;
+    const std::string parameter = common::ToJsonString(command);
+    return Call(ROBOT_API_ID_ARM_ACTION_EXECUTE_ACTION, parameter, data);
+  }
+
+  int32_t ExecuteAction(const std::string& action_name) {
+    JsonizeArmActionName command;
+    command.action_name = action_name;
+
+    std::string data;
+    const std::string parameter = common::ToJsonString(command);
+    return Call(ROBOT_API_ID_ARM_ACTION_EXECUTE_CUSTOM_ACTION, parameter, data);
+  }
+
+  int32_t StopCustomAction() {
+    std::string parameter;
+    std::string data;
+    return Call(ROBOT_API_ID_ARM_ACTION_STOP_CUSTOM_ACTION, parameter, data);
+  }
+
+  int32_t GetActionList(std::string& data) {
+    std::string parameter;
+    return Call(ROBOT_API_ID_ARM_ACTION_GET_ACTION_LIST, parameter, data);
+  }
+
+  // This is a local list known by the client, not a list queried from the robot.
+  inline static const std::map<std::string, int32_t> action_map = {
+      {"release arm", 99},   {"two-hand kiss", 11},
+      {"left kiss", 12},     {"hands up", 15},
+      {"clap", 17},          {"high five", 18},
+      {"hug", 19},           {"heart", 20},
+      {"right heart", 21},   {"reject", 22},
+      {"right hand up", 23}, {"x-ray", 24},
+      {"face wave", 25},     {"high wave", 26},
+      {"shake hand", 27},
+  };
+};
+
+}  // namespace h2
+}  // namespace robot
+}  // namespace unitree

unitree_sdk2/include/unitree/robot/h2/arm/h2_arm_action_error.hpp

@@ -0,0 +1,20 @@
+#pragma once
+
+#include <unitree/common/decl.hpp>
+
+namespace unitree {
+namespace robot {
+namespace h2 {
+
+UT_DECL_ERR(UT_ROBOT_ARM_ACTION_ERR_ARMSDK, 7400,
+            "The topic rt/arm_sdk is occupied.")
+UT_DECL_ERR(UT_ROBOT_ARM_ACTION_ERR_HOLDING, 7401,
+            "The arm is holding. Send action 99 or repeat the last action ID to release it.")
+UT_DECL_ERR(UT_ROBOT_ARM_ACTION_ERR_INVALID_ACTION_ID, 7402,
+            "Invalid arm action ID.")
+UT_DECL_ERR(UT_ROBOT_ARM_ACTION_ERR_INVALID_FSM_ID, 7404,
+            "The current FSM does not support arm actions.")
+
+}  // namespace h2
+}  // namespace robot
+}  // namespace unitree