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On both sides of the head of Go1, there are two light strips, and we also provide corresponding sdk for developers to use. 5.1 Hardware and SDK ¶ 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 ¶ The Super Sensory System includes five wide-angle stereo depth cameras, hypersonic distance sensors, and an integrated processing system Desired yaw-pitch-roll Euler angle, with euler[0] = Roll,euler[1] = Pitch,euler[2] = Yaw.RPY setting can be used in mode 1 as target orientation.Yaw setting can be used in mode 3 as target yaw angle.
The camera SDK provides color and depth video streams, as well as internal calibration information, and also provides point clouds and depth images aligned with color images.
Before compiling, you need to modify the library file called in the CmakeList file, and choose amd64 or arm64 according to your own platform. The head and body of Go1-Edu are distributed with 5 sets of binocular fisheye cameras, and we provide the corresponding UnitreeCameraSDK for developers to use. 7.1 Hardware ¶ Desired x and y position in the inertial frame, which is established at the beginning instance of the sport mode. Position setting is used in mode 3 as target position. Please read the Readme file carefully before use, which contains the dependencies required by the SDK and the method of compiling and running. Common errors and solutions when using UnitreecameraSDK ¶ 7.3.5.1 Synchronize the system time first if there is any error ¶
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. If software version is Go1_2022_01_26 or later (sport mode >= 1.36.0)，simply update software directly. For binocular depth sensing to work properly, please ensure the ambient lighting conditions are good and that obstacles are textured on the surface. There is a possibility of mutual interference between ultrasonic probes, please ensure that there is no ultrasonic emitter around the robot. 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.The following content is applicable to Go1 SDK version 3.5.1, other versions of Go1 SDK and A1 sports mode SDK can also be referred to. 3.1.1 Main control commands in the HighCmd structure ¶ 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. Running new programms on early firmware is problematic, our robot dog cannot standing up or work under this circumstance.
gst-launch-1.0 udpsrc port=9201 ! application/x-rtp, media=video, encoding-name=H264 ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! autovideosink 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. After setting the color, you need to send the function through the command to send the set color to the light strip to take effect: As you can see from the sample program, the SDK provides 2 methods to obtain ultrasonic data, UltraSound and UltraSoundGroup.The head and body of Go1-Edu are distributed with 3 groups of ultrasonic modules, which can be developed and used with the programs we provide.
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 ¶ 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 structureSolution: https://blog.csdn.net/n_fly/article/details/123270214 7.3.5.2 Error cannot find -ludev when compiling ¶ 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: pls dont change] It's a switch in distortion process of fisheye camera. 1 represents “Longitude and latitude expansion of fisheye camera”; 2 represnets "Perspective distortion correction". Ultrasonic sensors only exist in the old version of go1, the new version of go1 do not contain ultrasonic sensors.
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