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If software version is Go1_2022_01_26 or later (sport mode >= 1.36.0)，simply update software directly. The Super Sensory System includes five wide-angle stereo depth cameras, hypersonic distance sensors, and an integrated processing system
If the sender has sent, but the program cannot receive it, you can enter the following command on the PC terminal to test: 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. Desired robot forward speed and side speed in the body frame. Velocity setting is used in mode 2 as target linear velocity. 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 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.
Tutorials
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 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 ¶ 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".Running new programms on early firmware is problematic, our robot dog cannot standing up or work under this circumstance. 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 ¶
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 ¶ 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. 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: 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 ¶ If the required dependencies have been installed on the robot dog, it can be compiled and used directly;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 ¶ Solution: https://blog.csdn.net/n_fly/article/details/123270214 7.3.5.2 Error cannot find -ludev when compiling ¶ If software version is Go1_2022_01_14 or earlier (sport mode <= 1.34.0), you need to update firmware following step 4. gst-launch-1.0 udpsrc port=9201 ! application/x-rtp, media=video, encoding-name=H264 ! rtph264depay ! h264parse ! omxh264dec ! videoconvert ! autovideosink 7.3.4 Simultaneously acquire images from the front camera of the head and the camera of the chin ¶ 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.
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. 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. 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. 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:cd bin ./ example_UltraSound ./ example_UltraSoundGroup 7. Development and use of Go1 binocular fisheye camera ¶ 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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