Introduction

This library is used for the communication between PC and the motor control board, so that the user can control the motors by PC. This library includes Linux and Windows version, where the Linux version also support ROS. And we offer the usage examples of C, C++ and Python.

Dependencies

• CMake (version 2.8.3 or higher)
• keyboard (patch tested on version 0.13.5)

Files

lib/

Including the library files of Linux and Windows separately. If you wish to use the SDK under ARM32/64, please modify the CMakeList manually to select the correst .so file.

include/

Including the header files. Where LSerial.h contains the declarations of serial port operation functions. The motor_msg.h contains the command structure for motor communication. The motor_ctrl.h contains the encoding and decoding functions.

src/

Including the example source files of C and C++. The example can control motors to run under desired command for desired time, and then stop. Please watch out that only the check.c is the full control example with all functions. check.cpp and also the Python example do not contain some comments and important tutorials.

scripts/

Contains bash scripts which handle patching and distribution.

scripts/python/

Including the example source files of Python. This example's function is same with the C/C++ example. The typedef.py declares the data structure of all library functions and structures in Python style, so that the check.py can call the library correctly.

Usage

C/C++ under Liunx

Build

mkdir -p build
cd build
cmake ..
make

Run

• Have appropriate permissions
• Ubuntu: sudo usermod -aG dialout $USER
• Arch: sudo usermod -aG uucp

cd ..
dist/check_c
dist/check_cpp

Python under Linux

Generate executable

scripts/distribute.sh

Run executable

dist/pyscripts --help

Avoid running the scripts as root. Under a virtual environment with the keyboard package, follow the instructions of scripts/patch_keyboard_module.sh. Do not forget to log out and log back in after group changes.

C/C++ under ROS

Build

Under the catkin workspace, run:

catkin_make

Run

As we cannot use sudo rosrun, please run as follows:

First, at a terminal, run:

roscore

In another terminal, run:

sudo su
source devel/setup.bash
rosrun unitree_motor_ctrl unitree_motor_ctrl_node

Python under ROS

First, at a terminal, run:

roscore

In another terminal, run:

sudo su
source devel/setup.bash
rosrun unitree_motor_ctrl check.py

C/C++ under Windows

Build

We take MinGW as an example. First, select the "MinGW Makefiles" in CMake GUI and generate the makefiles to build directory. Then open the cmd.exe, run:

cd build
mingw32-make.exe

Run

Put the generated .exe file(/bin) and the .dll file(/lib) to same directory, and double click the .exe file to run.

Python under Windows

Open the cmd.exe, then:

cd script
check.py