Go1机器狗unitree_ros_to_real包example_walking代码分析

最新推荐文章于 2024-04-18 09:59:21 发布

w55aa

最新推荐文章于 2024-04-18 09:59:21 发布

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本文链接：https://blog.csdn.net/w55aa/article/details/130371551

版权

#include <ros/ros.h>
#include <unitree_legged_msgs/HighCmd.h>
#include <unitree_legged_msgs/HighState.h>
#include "unitree_legged_sdk/unitree_legged_sdk.h"
#include "convert.h"

using namespace UNITREE_LEGGED_SDK;

int main(int argc, char **argv)
{
    ros::init(argc, argv, "example_walk_without_lcm");

    std::cout << "WARNING: Control level is set to HIGH-level." << std::endl
              << "Make sure the robot is standing on the ground." << std::endl
              << "Press Enter to continue..." << std::endl;
    std::cin.ignore();

    ros::NodeHandle nh;

    ros::Rate loop_rate(500);

    long motiontime = 0;

    unitree_legged_msgs::HighCmd high_cmd_ros;

    ros::Publisher pub = nh.advertise<unitree_legged_msgs::HighCmd>("high_cmd", 1000);

    while (ros::ok())
    {

        motiontime += 2;

        high_cmd_ros.head[0] = 0xFE;
        high_cmd_ros.head[1] = 0xEF;
        high_cmd_ros.levelFlag = HIGHLEVEL;
        high_cmd_ros.mode = 0;
        high_cmd_ros.gaitType = 0;
        high_cmd_ros.speedLevel = 0;
        high_cmd_ros.footRaiseHeight = 0;
        high_cmd_ros.bodyHeight = 0;
        high_cmd_ros.euler[0] = 0;
        high_cmd_ros.euler[1] = 0;
        high_cmd_ros.euler[2] = 0;
        high_cmd_ros.velocity[0] = 0.0f;
        high_cmd_ros.velocity[1] = 0.0f;
        high_cmd_ros.yawSpeed = 0.0f;
        high_cmd_ros.reserve = 0;

        if (motiontime > 0 && motiontime < 1000)
        {
            high_cmd_ros.mode = 1;
            high_cmd_ros.euler[0] = -0.3; 
        }
        if (motiontime > 1000 && motiontime < 2000)
        {
            high_cmd_ros.mode = 1;
            high_cmd_ros.euler[0] = 0.3; //躯体头部向下，尾部向上
        }
        if (motiontime > 2000 && motiontime < 3000)
        {
            high_cmd_ros.mode = 1;
            high_cmd_ros.euler[1] = -0.2;
        }
        if (motiontime > 3000 && motiontime < 4000)
        {
            high_cmd_ros.mode = 1;
            high_cmd_ros.euler[1] = 0.2; //躯体向左
        }
        if (motiontime > 4000 && motiontime < 5000)
        {
            high_cmd_ros.mode = 1;
            high_cmd_ros.euler[2] = -0.2;
        }
        if (motiontime > 5000 && motiontime < 6000)
        {
            high_cmd_ros.mode = 1;
            high_cmd_ros.euler[2] = 0.2;
        }
        if (motiontime > 6000 && motiontime < 7000)
        {
            high_cmd_ros.mode = 1;
            high_cmd_ros.bodyHeight = -0.2;
        }
        if (motiontime > 7000 && motiontime < 8000)
        {
            high_cmd_ros.mode = 1;
            high_cmd_ros.bodyHeight = 0.1;
        }
        if (motiontime > 8000 && motiontime < 9000)
        {
            high_cmd_ros.mode = 1;
            high_cmd_ros.bodyHeight = 0.0;
        }


        # 卧倒模式
        if (motiontime > 9000 && motiontime < 11000)
        {
            high_cmd_ros.mode = 5;
        }

        # 起立模式
        if (motiontime > 11000 && motiontime < 13000)
        {
            high_cmd_ros.mode = 6;
        }

        // 空置模式
        if (motiontime > 13000 && motiontime < 14000)
        {
            high_cmd_ros.mode = 0;
        }

        // 前进模式+旋转
        if (motiontime > 14000 && motiontime < 18000)
        {
            high_cmd_ros.mode = 2;
            high_cmd_ros.gaitType = 2;
            high_cmd_ros.velocity[0] = 0.4f; // -1  ~ +1  前进速度
            high_cmd_ros.yawSpeed = 2;       //旋转速度
            high_cmd_ros.footRaiseHeight = 0.1;
            // printf("walk\n");
        }
        if (motiontime > 18000 && motiontime < 20000)
        {
            high_cmd_ros.mode = 0;
            high_cmd_ros.velocity[0] = 0;
        }

        // 单纯的前进模式
        if (motiontime > 20000 && motiontime < 24000)
        {
            high_cmd_ros.mode = 2;
            high_cmd_ros.gaitType = 1;
            high_cmd_ros.velocity[0] = 0.2f; // -1  ~ +1
            high_cmd_ros.bodyHeight = 0.1;  
            // printf("walk\n");
        }
        if (motiontime > 24000)
        {
            high_cmd_ros.mode = 1;
        }

        pub.publish(high_cmd_ros);

        ros::spinOnce();
        loop_rate.sleep();
    }

    return 0;
}