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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. 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".
It is recommended to use cable connection to update firmware, but connecting WIFI("Unitree_Go1******") is also an option. 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 structure 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. 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. 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 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.
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 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 ¶ 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. If the sender has sent, but the program cannot receive it, you can enter the following command on the PC terminal to test: 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: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: If the required dependencies have been installed on the robot dog, it can be compiled and used directly; 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. Ultrasonic sensors only exist in the old version of go1, the new version of go1 do not contain ultrasonic sensors.cd bin ./ example_UltraSound ./ example_UltraSoundGroup 7. Development and use of Go1 binocular fisheye camera ¶ 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.
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