/unitree-robotics

Primary LanguageC++

This sdk is mainly used for communication between PC and main controller board. It also can be used in other PCs with UDP.

Dependencies

  • Boost (version 1.5.4 or higher)
  • CMake (version 2.8.3 or higher)
  • LCM (version 1.4.0 or higher)
cd lcm-x.x.x
mkdir build
cd build
cmake ../
make
sudo make install

Build

mkdir build
cd build
cmake ../
make

Usage

Run examples with 'sudo' for memory locking.

Only Mini-PC

  • Run examples below examples/one_pc.
With ROS
  • Run lcm server examples/one_pc/multi_process/xxx.
sudo ./sdk_lcm_server_low
  • Build laikago_real in catkin workspace.
roslaunch laikago_real low_client.launch
rosrun laikago_real position_lcm_publisher

Mini-PC + TX2 (or Others, like Xavier)

  • Use USB3.0->Ethernet for Mini-PC to extend Ethernet port.
  • Configure IP address for each.
  • Run examples/multi_pc/host on TX2.
  • Run examples/multi_pc/slave on Mini-PC.

unitree-robotics