Before compiling, you need to modify the library file called in the CmakeList file, and choose amd64 or arm64 according to your own platform. Please be aware that the product that the user gets in hand will differ from the robot in this article in terms of appearance color and individual details. The features and performance metrics are basically the same as mentioned in this article. Desired robot forward speed and side speed in the body frame. Velocity setting is used in mode 2 as target linear velocity. Common errors and solutions when using UnitreecameraSDK ¶ 7.3.5.1 Synchronize the system time first if there is any error ¶

This method is to use the serial port of the board to directly read the information of the ultrasonic module. Unitree provides the sdk for use. The sdk is located at ~/Unitree/sdk/ultraSoundSDK_RasPi (the one on Nano13 is also in the corresponding position). After the program starts, it will occupy the serial port, so before using this method, you need to kill the program that occupies the device. There are two ways to use ultrasound on Go1, one is to use the lcm topic provided by Unitree to receive all the ultrasound data, and the other is to read the serial data directly. Unitree prefers to use the former. 6.2.1 Receive all ultrasound data using the lcm topic provided by Unitree ¶ The Super Sensory System includes five wide-angle stereo depth cameras, hypersonic distance sensors, and an integrated processing system

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It is established when the IMU is powered on. The Z axis of the IMU is in the direction of gravity, and the XY is based on the time when the power is turned on. The obtained angular velocity is in the initial coordinate system. The 5 groups of cameras are distributed on the front face, chin, left and right sides of the fuselage and abdomen. In terms of hardware, the front camera and chin camera are connected to the Nano on the head (192.168.123.13), the cameras on both sides of the fuselage are connected to the Nano (192.168.123.14), and the belly camera is connected to the main Nano or NX (192.168 .123.15) on. Front camera Port ID=9201, Chin camera Port ID=9202, Left camera Port ID=9203, Right camera Port ID=9204, Belly camera Port ID=9205. Among them, the first five call the camera locally, just compile and run directly; the two transmission samples, one for sending and one for receiving, need to be run separately. 7.3 SDK usage example ¶ Due to the complexity of the human living environment, if conditions permit, please choose a more open route to minimize the triggering of the autonomous evasion function of the robot itself.

The previous world record MIT mini cheetah is 3.7m/s; This speed comes from the product's ultimate speed test, and for safety and stability, the actual speed will be limited. For long-term outdoor operation, please use it in cool weather. Please keep a certain safe distance from the robot when using, especially do not let minors touch the robot which is powered on. Motor data, 20 MotorState structure arrays, the first 12 of which are valid, and the number of each motor can refer to the quadruped.hMotorState structure

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The vector positioning mainly uses radio signals, when there is an obvious obstruction between humans and robots, there is a high probability that the robot will lose the actual position of the person. Therefore, when operating, we can artificially choose an ideal route of travel. The sports mode is started and established, with the center of the fuselage as the origin, the forward direction is the x direction, the left direction is the y direction, and the vertical upward direction is the z direction.

cd bin ./ example_UltraSound ./ example_UltraSoundGroup 7. Development and use of Go1 binocular fisheye camera ¶ Please read the Readme file carefully before use, which contains the dependencies required by the SDK and the method of compiling and running. We also asked Wang Xingxing, Unitree’s CEO, about how they were able to make Go1 so affordable, and here’s what he told us: Please note that SDK version ≥ 3.4 is applicable for Go1 2.3 The dependencies required by the SDK and its running permissions ¶ Ultrasonic sensors only exist in the old version of go1, the new version of go1 do not contain ultrasonic sensors.Sometimes we need to capture the pictures of two cameras on a Nano at the same time. At this time, we can create two transmission configuration files trans_rect_config_cam1.yaml and trans_rect_config_cam2.yaml, and then create two sending programs to run separately to send out the two cameras at the same time. Of course, it is also possible to transmit twice in the same program.