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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 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 ¶ If the sender has sent, but the program cannot receive it, you can enter the following command on the PC terminal to test: Ultrasonic sensors only exist in the old version of go1, the new version of go1 do not contain ultrasonic sensors. As you can see from the sample program, the SDK provides 2 methods to obtain ultrasonic data, UltraSound and UltraSoundGroup.
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The picture above is the code of the routine. Two programs are provided for testing. One is to use the same color for all lamp beads, and the other is to combine different colors of different lamp beads to form a new lighting effect. ttyTHS1, ttyAMA0 are the serial ports on Nano and RasPi respectively, which have been configured on the system, do not modify the system configuration when using, so as not to make the device unusable. 6.2 SDK ¶ Desired robot forward speed and side speed in the body frame. Velocity setting is used in mode 2 as target linear velocity.
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. 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 systemThe 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. 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_14 or earlier (sport mode <= 1.34.0), you need to update firmware following step 4. 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.
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. Please note that SDK version ≥ 3.4 is applicable for Go1 2.3 The dependencies required by the SDK and its running permissions ¶
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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 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.
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