Unitree low-level control app

[ru, en]

Desktop application for low-level control of Unitree robots. Currently only support for Unitree A1 robots is available

Description

This application allows you to send low-level commands to the robot. There is no need to edit, compile and constantly re-run the code on the robot to execute your commands.

The solution consists of two parts:

• Server side

  This component runs on one of the robot's on-board computers. It accepts the client's commands, transforms them into a form understandable to the robot, and forwards them to the robot.

• GUI

  Commands sent to the robot are formed on the client side (GUI).

Supported control modes:

• Position mode
• Velocity mode
• Torque mode
• Compound mode

Run

You are able to:

• Download apps and run them
• Build your own apps from sources

Building from sources

Requirements

Server

• С++ compler supporting С++ 17
• CMake (3.5 or higher)
• Drogon (использовалась 1.7.5)
• Boost (1.61.0 or higher)
• LCM (1.4.0 or higher)

Build

Server

• Run the following commands in terminal:

  cd ./dog
  mkdir build
  cd ./build
  cmake ..
  make

Run

Server

• Create file config.json with server configuration in robot-low-level-backend. Example:

  {
      "listeners": [
          {
              "adreess": "0.0.0.0",
              "port": 5000,
              "https": false
          }
      ],
      "app": {
          "number_of_threads": 2,
          "server_header_field": ""
      }
  }

• To run application execute:

  sudo ./robot-low-level-backend