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. 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 Super Sensory System includes five wide-angle stereo depth cameras, hypersonic distance sensors, and an integrated processing system

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. Common errors and solutions when using UnitreecameraSDK ¶ 7.3.5.1 Synchronize the system time first if there is any error ¶ As you can see from the sample program, the SDK provides 2 methods to obtain ultrasonic data, UltraSound and UltraSoundGroup.

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It is recommended to use cable connection to update firmware, but connecting WIFI("Unitree_Go1******") is also an option. 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 ¶

Before compiling, you need to modify the library file called in the CmakeList file, and choose amd64 or arm64 according to your own platform. 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 ¶ 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. 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:

Tutorials

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 cd bin ./ example_UltraSound ./ example_UltraSoundGroup 7. Development and use of Go1 binocular fisheye camera ¶ Desired robot forward speed and side speed in the body frame. Velocity setting is used in mode 2 as target linear velocity.

If software version is Go1_2022_01_14 or earlier (sport mode <= 1.34.0), you need to update firmware following step 4.

Docs

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. 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. Running new programms on early firmware is problematic, our robot dog cannot standing up or work under this circumstance. 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 ¶ gst-launch-1.0 udpsrc port=9201 ! application/x-rtp, media=video, encoding-name=H264 ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! autovideosink

Please read the Readme file carefully before use, which contains the dependencies required by the SDK and the method of compiling and running.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. If the required dependencies have been installed on the robot dog, it can be compiled and used directly; 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.