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4 Commits
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509 changed files with 152 additions and 67672 deletions
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2
README.md
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@ -1,2 +1,2 @@
“智能伤员感知救助”软件系统设计
# Conception

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doc/“智能伤员感知救助”软件系统的需求构思及描述.docx
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doc/“智能伤员感知救助”软件设计规格说明书.docx
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model/“智能伤员感知救助”软件需求模型.eddx
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model/“智能伤员感知救助”软件需求模型.vsdx
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123
src/客户端代码/src/app_ui/src/tool/sqlite.cpp → sqlite.cpp
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@ -201,37 +201,11 @@ namespace database
return 0;
}
int sqlite::updateRobort(int id, std::string name, int type, std::string ip)
int sqlite::modifyRobort()
{
QString NAME;
NAME = QString::fromStdString(name);
int TYPE;
TYPE = type;
QString IP;
IP = QString::fromStdString(ip);
QSqlQuery updata_query;
QString updateSql = QString("update Robort set name='%1',type='%2' ,ip='%3' where id='%4' ").arg(NAME).arg(TYPE).arg(IP).arg(id);
qDebug()<<updateSql;
updata_query.prepare(updateSql);
if(!updata_query.exec())
{
qDebug() << updata_query.lastError();
}
else
{
qDebug() << "uodate!!";
}
return 0;
}
int sqlite::deleteMission()
{
return 0;
@ -290,93 +264,6 @@ namespace database
return missionlist;
}
void sqlite::queryRobort(std::string name, int &id, int &type, std::string &ip)
{
QString select_sql = "select id, name, type, ip from Robort";
QSqlQuery query;
if(!query.exec(select_sql))
{
qDebug()<<query.lastError();
}
else
{
while(query.next())
{
int ID = query.value(0).toInt();
QString NAME = query.value(1).toString();
int TYPE = query.value(2).toInt();
QString IP = query.value(3).toString();
if(name == NAME.toStdString())
{
id = ID;
type = TYPE;
ip = IP.toStdString();
return;
}
//qDebug()<<QString("id:%1 name:%2").arg(id).arg(name);
}
qDebug()<<QString("not found id:%1").arg(id);
}
}
void sqlite::queryMission(std::string name, int &id, int &type, std::vector<std::string> &robort)
{
QString select_sql = "select id, name, type from Mission";
QSqlQuery query;
if(!query.exec(select_sql))
{
qDebug()<<query.lastError();
}
else
{
while(query.next())
{
int ID = query.value(0).toInt();
QString NAME = query.value(1).toString();
int TYPE = query.value(2).toInt();
if(name == NAME.toStdString())
{
id = ID;
type = TYPE;
robort = queryMissionROBORT(name);
return;
}
//qDebug()<<QString("id:%1 name:%2").arg(id).arg(name);
}
qDebug()<<QString("not found id:%1").arg(id);
}
}
std::vector<std::string> sqlite::queryMissionROBORT(std::string name)
{
std::vector<std::string> RobortList;
QString select_sql = "select name, mission from Robort";
QSqlQuery query;
if(!query.exec(select_sql))
{
qDebug()<<query.lastError();
}
else
{
while(query.next())
{
QString NAME = query.value(0).toString();
QString MISSION = query.value(1).toString();
if(name == MISSION.toStdString())
{
RobortList.push_back(NAME.toStdString());
}
//qDebug()<<QString("id:%1 name:%2").arg(id).arg(name);
}
qDebug()<<QString("not found name");
}
return RobortList;
}
int queryMissionID(std::string name)
{
QString select_sql = "select id, name from Mission";
@ -431,5 +318,11 @@ namespace database
}
int test = 1;
}

143
sqlite.h
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@ -0,0 +1,143 @@
#ifndef SQLITE_H
#define SQLITE_H
#include <QSqlDatabase>
#include <QSqlQuery>
#include <QSqlError>
#include <QSqlQueryModel>
#include <QDebug>
#include <vector>
#include <string>
namespace database
{
class sqlite
{
public:
sqlite();
~sqlite();
QSqlDatabase db;//建立和qt和数据库连接
QSqlQueryModel model;//保存和遍历select结果
int createDB();
int createMissionTable();
int createRobortTable();
int addMission(std::string name, int type);
std::vector<std::string> queryMissionROBORT(std::string name)
{
std::vector<std::string> RobortList;
QString select_sql = "select name, mission from Robort";
QSqlQuery query;
if(!query.exec(select_sql))
{
qDebug()<<query.lastError();
}
else
{
while(query.next())
{
QString NAME = query.value(0).toString();
QString MISSION = query.value(1).toString();
if(name == MISSION.toStdString())
{
RobortList.push_back(NAME.toStdString());
}
//qDebug()<<QString("id:%1 name:%2").arg(id).arg(name);
}
qDebug()<<QString("not found name");
}
return RobortList;
}
int addRobort(std::string name, int type, std::string ip, std::string mission);
int modifyMission();
int modifyRobort();
int deleteMission();
int deleteRobort(std::string name, int type, std::string ip, std::string mission );
std::vector<std::string> traverseMission();
void queryMission(std::string name, int &id, int &type, std::vector<std::string> &robort)
{
QString select_sql = "select id, name, type from Mission";
QSqlQuery query;
if(!query.exec(select_sql))
{
qDebug()<<query.lastError();
}
else
{
while(query.next())
{
int ID = query.value(0).toInt();
QString NAME = query.value(1).toString();
int TYPE = query.value(2).toInt();
if(name == NAME.toStdString())
{
id = ID;
type = TYPE;
robort = queryMissionROBORT(name);
return;
}
//qDebug()<<QString("id:%1 name:%2").arg(id).arg(name);
}
qDebug()<<QString("not found id:%1").arg(id);
}
}
void queryRobort(std::string name, int &id, int &type, std::string &ip)
{
QString select_sql = "select id, name, type, ip from Robort";
QSqlQuery query;
if(!query.exec(select_sql))
{
qDebug()<<query.lastError();
}
else
{
while(query.next())
{
int ID = query.value(0).toInt();
QString NAME = query.value(1).toString();
int TYPE = query.value(2).toInt();
QString IP = query.value(3).toString();
if(name == NAME.toStdString())
{
id = ID;
type = TYPE;
ip = IP.toStdString();
return;
}
//qDebug()<<QString("id:%1 name:%2").arg(id).arg(name);
}
qDebug()<<QString("not found id:%1").arg(id);
}
}
int test;
};
}
#endif

1
src/客户端代码/.catkin_workspace
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@ -1 +0,0 @@
# This file currently only serves to mark the location of a catkin workspace for tool integration

23
src/客户端代码/.vscode/c_cpp_properties.json vendored
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@ -1,23 +0,0 @@
{
"configurations": [
{
"browse": {
"databaseFilename": "${default}",
"limitSymbolsToIncludedHeaders": false
},
"includePath": [
"/home/chinhan/Joint_Rescue_development/devel/include/**",
"/opt/ros/kinetic/include/**",
"/home/chinhan/Joint_Rescue_development/src/udp_port/include/**",
"/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_real/include/**",
"/usr/include/**"
],
"name": "ROS",
"intelliSenseMode": "gcc-x64",
"compilerPath": "/usr/bin/gcc",
"cStandard": "gnu11",
"cppStandard": "c++14"
}
],
"version": 4
}

88
src/客户端代码/.vscode/settings.json vendored
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@ -1,88 +0,0 @@
{
"python.autoComplete.extraPaths": [
"/home/chinhan/Joint_Rescue_development/devel/lib/python2.7/dist-packages",
"/opt/ros/kinetic/lib/python2.7/dist-packages"
],
"python.analysis.extraPaths": [
"/home/chinhan/Joint_Rescue_development/devel/lib/python2.7/dist-packages",
"/opt/ros/kinetic/lib/python2.7/dist-packages"
],
"files.associations": {
"cctype": "cpp",
"clocale": "cpp",
"cmath": "cpp",
"csignal": "cpp",
"cstdarg": "cpp",
"cstddef": "cpp",
"cstdio": "cpp",
"cstdlib": "cpp",
"cstring": "cpp",
"ctime": "cpp",
"cwchar": "cpp",
"cwctype": "cpp",
"array": "cpp",
"atomic": "cpp",
"strstream": "cpp",
"*.tcc": "cpp",
"bitset": "cpp",
"chrono": "cpp",
"codecvt": "cpp",
"complex": "cpp",
"cstdint": "cpp",
"deque": "cpp",
"forward_list": "cpp",
"list": "cpp",
"unordered_map": "cpp",
"unordered_set": "cpp",
"vector": "cpp",
"exception": "cpp",
"algorithm": "cpp",
"any": "cpp",
"filesystem": "cpp",
"functional": "cpp",
"optional": "cpp",
"ratio": "cpp",
"string_view": "cpp",
"system_error": "cpp",
"tuple": "cpp",
"type_traits": "cpp",
"hash_map": "cpp",
"hash_set": "cpp",
"fstream": "cpp",
"initializer_list": "cpp",
"iomanip": "cpp",
"iosfwd": "cpp",
"iostream": "cpp",
"istream": "cpp",
"limits": "cpp",
"memory": "cpp",
"new": "cpp",
"ostream": "cpp",
"numeric": "cpp",
"sstream": "cpp",
"stdexcept": "cpp",
"streambuf": "cpp",
"thread": "cpp",
"cfenv": "cpp",
"cinttypes": "cpp",
"utility": "cpp",
"typeindex": "cpp",
"typeinfo": "cpp",
"valarray": "cpp",
"bit": "cpp",
"map": "cpp",
"set": "cpp",
"iterator": "cpp",
"memory_resource": "cpp",
"random": "cpp",
"string": "cpp",
"qpushbutton": "cpp",
"qvariant": "cpp",
"qlineedit": "cpp",
"qlabel": "cpp",
"qapplication": "cpp",
"qtabwidget": "cpp",
"qdebug": "cpp",
"qcombobox": "cpp"
}
}

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src/客户端代码/JointSecure.db
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8
src/客户端代码/Joint_Rescue.workspace
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@ -1,8 +0,0 @@
<?xml version="1.0"?>
<Workspace>
<Distribution name="kinetic"/>
<DefaultBuildSystem value="0"/>
<WatchDirectories>
<Directory>src</Directory>
</WatchDirectories>
</Workspace>

527
src/客户端代码/Joint_Rescue.workspace.user
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@ -1,527 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 4.5.1, 2023-06-27T19:57:13. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
<value type="QByteArray">{bdc6160a-3a85-46c4-999c-e5232f05a4e6}</value>
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<value type="int">0</value>
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<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
<value type="QString" key="language">Cpp</value>
<valuemap type="QVariantMap" key="value">
<value type="QByteArray" key="CurrentPreferences">ROSProject.CppCodeStyle</value>
</valuemap>
</valuemap>
<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
<value type="QString" key="language">QmlJS</value>
<valuemap type="QVariantMap" key="value">
<value type="QByteArray" key="CurrentPreferences">QmlJSGlobal</value>
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<value type="int" key="EditorConfiguration.CodeStyle.Count">2</value>
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<value type="QString" key="ROSProjectManager.ROSCatkinMakeStep.CMakeArguments"></value>
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<value type="bool" key="ProjectExplorer.RunStep.Enabled">false</value>
<value type="QString" key="ROSProjectManager.ROSGenericStep.Arguments"></value>
<value type="QString" key="ROSProjectManager.ROSGenericStep.Command">rosrun</value>
<value type="bool" key="ROSProjectManager.ROSGenericStep.DebugContinueOnAttach">false</value>
<value type="QString" key="ROSProjectManager.ROSGenericStep.Package">qt_app_ros</value>
<value type="QString" key="ROSProjectManager.ROSGenericStep.Target">tcp_port_send_node</value>
<value type="QString" key="ROSProjectManager.ROSGenericStep.TargetPath">/home/chinhan/Joint_Rescue_development/devel/lib/qt_app_ros/tcp_port_send_node</value>
</valuemap>
<valuemap type="QVariantMap" key="ProjectExplorer.RunStepList.Step.9">
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ROSProjectManager.ROSRunStep</value>
<value type="bool" key="ProjectExplorer.RunStep.Enabled">false</value>
<value type="QString" key="ROSProjectManager.ROSGenericStep.Arguments"></value>
<value type="QString" key="ROSProjectManager.ROSGenericStep.Command">rosrun</value>
<value type="bool" key="ROSProjectManager.ROSGenericStep.DebugContinueOnAttach">false</value>
<value type="QString" key="ROSProjectManager.ROSGenericStep.Package">qt_app_ros</value>
<value type="QString" key="ROSProjectManager.ROSGenericStep.Target">tcp_port_receive_node</value>
<value type="QString" key="ROSProjectManager.ROSGenericStep.TargetPath">/home/chinhan/Joint_Rescue_development/devel/lib/qt_app_ros/tcp_port_receive_node</value>
</valuemap>
<value type="int" key="ProjectExplorer.RunStepList.StepsCount">10</value>
</valuemap>
<value type="uint" key="RunConfiguration.QmlDebugServerPort">3768</value>
<value type="bool" key="RunConfiguration.UseCppDebugger">false</value>
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
<value type="bool" key="RunConfiguration.UseMultiProcess">false</value>
<value type="bool" key="RunConfiguration.UseQmlDebugger">false</value>
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
</valuemap>
<value type="int" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
</valuemap>
</data>
<data>
<variable>ProjectExplorer.Project.TargetCount</variable>
<value type="int">1</value>
</data>
<data>
<variable>ProjectExplorer.Project.Updater.FileVersion</variable>
<value type="int">18</value>
</data>
<data>
<variable>Version</variable>
<value type="int">18</value>
</data>
</qtcreator>

1
src/客户端代码/devel/.built_by
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catkin_make

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src/客户端代码/devel/.catkin
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/home/chinhan/Joint_Rescue_development/src

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src/客户端代码/devel/.rosinstall
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- setup-file:
local-name: /home/chinhan/Joint_Rescue_development/devel/setup.sh

304
src/客户端代码/devel/_setup_util.py
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#!/usr/bin/python2
# -*- coding: utf-8 -*-
# Software License Agreement (BSD License)
#
# Copyright (c) 2012, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
from __future__ import print_function
import argparse
import copy
import errno
import os
import platform
import sys
CATKIN_MARKER_FILE = '.catkin'
system = platform.system()
IS_DARWIN = (system == 'Darwin')
IS_WINDOWS = (system == 'Windows')
PATH_TO_ADD_SUFFIX = ['bin']
if IS_WINDOWS:
# while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
# since Windows finds dll's via the PATH variable, prepend it with path to lib
PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
# subfolder of workspace prepended to CMAKE_PREFIX_PATH
ENV_VAR_SUBFOLDERS = {
'CMAKE_PREFIX_PATH': '',
'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
'PATH': PATH_TO_ADD_SUFFIX,
'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
'PYTHONPATH': 'lib/python2.7/dist-packages',
}
def rollback_env_variables(environ, env_var_subfolders):
"""
Generate shell code to reset environment variables.
by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
This does not cover modifications performed by environment hooks.
"""
lines = []
unmodified_environ = copy.copy(environ)
for key in sorted(env_var_subfolders.keys()):
subfolders = env_var_subfolders[key]
if not isinstance(subfolders, list):
subfolders = [subfolders]
value = _rollback_env_variable(unmodified_environ, key, subfolders)
if value is not None:
environ[key] = value
lines.append(assignment(key, value))
if lines:
lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
return lines
def _rollback_env_variable(environ, name, subfolders):
"""
For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
:param subfolders: list of str '' or subfoldername that may start with '/'
:returns: the updated value of the environment variable.
"""
value = environ[name] if name in environ else ''
env_paths = [path for path in value.split(os.pathsep) if path]
value_modified = False
for subfolder in subfolders:
if subfolder:
if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
subfolder = subfolder[1:]
if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
subfolder = subfolder[:-1]
for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
path_to_remove = None
for env_path in env_paths:
env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
if env_path_clean == path_to_find:
path_to_remove = env_path
break
if path_to_remove:
env_paths.remove(path_to_remove)
value_modified = True
new_value = os.pathsep.join(env_paths)
return new_value if value_modified else None
def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
"""
Based on CMAKE_PREFIX_PATH return all catkin workspaces.
:param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
"""
# get all cmake prefix paths
env_name = 'CMAKE_PREFIX_PATH'
value = environ[env_name] if env_name in environ else ''
paths = [path for path in value.split(os.pathsep) if path]
# remove non-workspace paths
workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
return workspaces
def prepend_env_variables(environ, env_var_subfolders, workspaces):
"""Generate shell code to prepend environment variables for the all workspaces."""
lines = []
lines.append(comment('prepend folders of workspaces to environment variables'))
paths = [path for path in workspaces.split(os.pathsep) if path]
prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
subfolder = env_var_subfolders[key]
prefix = _prefix_env_variable(environ, key, paths, subfolder)
lines.append(prepend(environ, key, prefix))
return lines
def _prefix_env_variable(environ, name, paths, subfolders):
"""
Return the prefix to prepend to the environment variable NAME.
Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
"""
value = environ[name] if name in environ else ''
environ_paths = [path for path in value.split(os.pathsep) if path]
checked_paths = []
for path in paths:
if not isinstance(subfolders, list):
subfolders = [subfolders]
for subfolder in subfolders:
path_tmp = path
if subfolder:
path_tmp = os.path.join(path_tmp, subfolder)
# skip nonexistent paths
if not os.path.exists(path_tmp):
continue
# exclude any path already in env and any path we already added
if path_tmp not in environ_paths and path_tmp not in checked_paths:
checked_paths.append(path_tmp)
prefix_str = os.pathsep.join(checked_paths)
if prefix_str != '' and environ_paths:
prefix_str += os.pathsep
return prefix_str
def assignment(key, value):
if not IS_WINDOWS:
return 'export %s="%s"' % (key, value)
else:
return 'set %s=%s' % (key, value)
def comment(msg):
if not IS_WINDOWS:
return '# %s' % msg
else:
return 'REM %s' % msg
def prepend(environ, key, prefix):
if key not in environ or not environ[key]:
return assignment(key, prefix)
if not IS_WINDOWS:
return 'export %s="%s$%s"' % (key, prefix, key)
else:
return 'set %s=%s%%%s%%' % (key, prefix, key)
def find_env_hooks(environ, cmake_prefix_path):
"""Generate shell code with found environment hooks for the all workspaces."""
lines = []
lines.append(comment('found environment hooks in workspaces'))
generic_env_hooks = []
generic_env_hooks_workspace = []
specific_env_hooks = []
specific_env_hooks_workspace = []
generic_env_hooks_by_filename = {}
specific_env_hooks_by_filename = {}
generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
# remove non-workspace paths
workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
for workspace in reversed(workspaces):
env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
if os.path.isdir(env_hook_dir):
for filename in sorted(os.listdir(env_hook_dir)):
if filename.endswith('.%s' % generic_env_hook_ext):
# remove previous env hook with same name if present
if filename in generic_env_hooks_by_filename:
i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
generic_env_hooks.pop(i)
generic_env_hooks_workspace.pop(i)
# append env hook
generic_env_hooks.append(os.path.join(env_hook_dir, filename))
generic_env_hooks_workspace.append(workspace)
generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
# remove previous env hook with same name if present
if filename in specific_env_hooks_by_filename:
i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
specific_env_hooks.pop(i)
specific_env_hooks_workspace.pop(i)
# append env hook
specific_env_hooks.append(os.path.join(env_hook_dir, filename))
specific_env_hooks_workspace.append(workspace)
specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
env_hooks = generic_env_hooks + specific_env_hooks
env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
count = len(env_hooks)
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
for i in range(count):
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
return lines
def _parse_arguments(args=None):
parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
return parser.parse_known_args(args=args)[0]
if __name__ == '__main__':
try:
try:
args = _parse_arguments()
except Exception as e:
print(e, file=sys.stderr)
sys.exit(1)
if not args.local:
# environment at generation time
CMAKE_PREFIX_PATH = r'/home/chinhan/Joint_Rescue_development/devel;/opt/ros/kinetic'.split(';')
else:
# don't consider any other prefix path than this one
CMAKE_PREFIX_PATH = []
# prepend current workspace if not already part of CPP
base_path = os.path.dirname(__file__)
# CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
# base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
if os.path.sep != '/':
base_path = base_path.replace(os.path.sep, '/')
if base_path not in CMAKE_PREFIX_PATH:
CMAKE_PREFIX_PATH.insert(0, base_path)
CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
environ = dict(os.environ)
lines = []
if not args.extend:
lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
print('\n'.join(lines))
# need to explicitly flush the output
sys.stdout.flush()
except IOError as e:
# and catch potential "broken pipe" if stdout is not writable
# which can happen when piping the output to a file but the disk is full
if e.errno == errno.EPIPE:
print(e, file=sys.stderr)
sys.exit(2)
raise
sys.exit(0)

0
src/客户端代码/devel/cmake.lock
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16
src/客户端代码/devel/env.sh
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#!/usr/bin/env sh
# generated from catkin/cmake/templates/env.sh.in
if [ $# -eq 0 ] ; then
/bin/echo "Usage: env.sh COMMANDS"
/bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
exit 1
fi
# ensure to not use different shell type which was set before
CATKIN_SHELL=sh
# source setup.sh from same directory as this file
_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
. "$_CATKIN_SETUP_DIR/setup.sh"
exec "$@"

205
src/客户端代码/devel/include/unitree_legged_msgs/Cartesian.h
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// Generated by gencpp from file unitree_legged_msgs/Cartesian.msg
// DO NOT EDIT!
#ifndef UNITREE_LEGGED_MSGS_MESSAGE_CARTESIAN_H
#define UNITREE_LEGGED_MSGS_MESSAGE_CARTESIAN_H
#include <string>
#include <vector>
#include <map>
#include <ros/types.h>
#include <ros/serialization.h>
#include <ros/builtin_message_traits.h>
#include <ros/message_operations.h>
namespace unitree_legged_msgs
{
template <class ContainerAllocator>
struct Cartesian_
{
typedef Cartesian_<ContainerAllocator> Type;
Cartesian_()
: x(0.0)
, y(0.0)
, z(0.0) {
}
Cartesian_(const ContainerAllocator& _alloc)
: x(0.0)
, y(0.0)
, z(0.0) {
(void)_alloc;
}
typedef float _x_type;
_x_type x;
typedef float _y_type;
_y_type y;
typedef float _z_type;
_z_type z;
typedef boost::shared_ptr< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> const> ConstPtr;
}; // struct Cartesian_
typedef ::unitree_legged_msgs::Cartesian_<std::allocator<void> > Cartesian;
typedef boost::shared_ptr< ::unitree_legged_msgs::Cartesian > CartesianPtr;
typedef boost::shared_ptr< ::unitree_legged_msgs::Cartesian const> CartesianConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator>
std::ostream& operator<<(std::ostream& s, const ::unitree_legged_msgs::Cartesian_<ContainerAllocator> & v)
{
ros::message_operations::Printer< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >::stream(s, "", v);
return s;
}
} // namespace unitree_legged_msgs
namespace ros
{
namespace message_traits
{
// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False}
// {'sensor_msgs': ['/opt/ros/kinetic/share/sensor_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/kinetic/share/geometry_msgs/cmake/../msg'], 'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'unitree_legged_msgs': ['/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg']}
// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
template <class ContainerAllocator>
struct IsFixedSize< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >
: TrueType
{ };
template <class ContainerAllocator>
struct IsFixedSize< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> const>
: TrueType
{ };
template <class ContainerAllocator>
struct IsMessage< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >
: TrueType
{ };
template <class ContainerAllocator>
struct IsMessage< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> const>
: TrueType
{ };
template <class ContainerAllocator>
struct HasHeader< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >
: FalseType
{ };
template <class ContainerAllocator>
struct HasHeader< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> const>
: FalseType
{ };
template<class ContainerAllocator>
struct MD5Sum< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >
{
static const char* value()
{
return "cc153912f1453b708d221682bc23d9ac";
}
static const char* value(const ::unitree_legged_msgs::Cartesian_<ContainerAllocator>&) { return value(); }
static const uint64_t static_value1 = 0xcc153912f1453b70ULL;
static const uint64_t static_value2 = 0x8d221682bc23d9acULL;
};
template<class ContainerAllocator>
struct DataType< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >
{
static const char* value()
{
return "unitree_legged_msgs/Cartesian";
}
static const char* value(const ::unitree_legged_msgs::Cartesian_<ContainerAllocator>&) { return value(); }
};
template<class ContainerAllocator>
struct Definition< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >
{
static const char* value()
{
return "float32 x\n\
float32 y\n\
float32 z\n\
";
}
static const char* value(const ::unitree_legged_msgs::Cartesian_<ContainerAllocator>&) { return value(); }
};
} // namespace message_traits
} // namespace ros
namespace ros
{
namespace serialization
{
template<class ContainerAllocator> struct Serializer< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >
{
template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
{
stream.next(m.x);
stream.next(m.y);
stream.next(m.z);
}
ROS_DECLARE_ALLINONE_SERIALIZER
}; // struct Cartesian_
} // namespace serialization
} // namespace ros
namespace ros
{
namespace message_operations
{
template<class ContainerAllocator>
struct Printer< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >
{
template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::unitree_legged_msgs::Cartesian_<ContainerAllocator>& v)
{
s << indent << "x: ";
Printer<float>::stream(s, indent + " ", v.x);
s << indent << "y: ";
Printer<float>::stream(s, indent + " ", v.y);
s << indent << "z: ";
Printer<float>::stream(s, indent + " ", v.z);
}
};
} // namespace message_operations
} // namespace ros
#endif // UNITREE_LEGGED_MSGS_MESSAGE_CARTESIAN_H

377
src/客户端代码/devel/include/unitree_legged_msgs/HighCmd.h
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// Generated by gencpp from file unitree_legged_msgs/HighCmd.msg
// DO NOT EDIT!
#ifndef UNITREE_LEGGED_MSGS_MESSAGE_HIGHCMD_H
#define UNITREE_LEGGED_MSGS_MESSAGE_HIGHCMD_H
#include <string>
#include <vector>
#include <map>
#include <ros/types.h>
#include <ros/serialization.h>
#include <ros/builtin_message_traits.h>
#include <ros/message_operations.h>
#include <unitree_legged_msgs/LED.h>
namespace unitree_legged_msgs
{
template <class ContainerAllocator>
struct HighCmd_
{
typedef HighCmd_<ContainerAllocator> Type;
HighCmd_()
: levelFlag(0)
, commVersion(0)
, robotID(0)
, SN(0)
, bandWidth(0)
, mode(0)
, forwardSpeed(0.0)
, sideSpeed(0.0)
, rotateSpeed(0.0)
, bodyHeight(0.0)
, footRaiseHeight(0.0)
, yaw(0.0)
, pitch(0.0)
, roll(0.0)
, led()
, wirelessRemote()
, AppRemote()
, reserve(0)
, crc(0) {
wirelessRemote.assign(0);
AppRemote.assign(0);
}
HighCmd_(const ContainerAllocator& _alloc)
: levelFlag(0)
, commVersion(0)
, robotID(0)
, SN(0)
, bandWidth(0)
, mode(0)
, forwardSpeed(0.0)
, sideSpeed(0.0)
, rotateSpeed(0.0)
, bodyHeight(0.0)
, footRaiseHeight(0.0)
, yaw(0.0)
, pitch(0.0)
, roll(0.0)
, led()
, wirelessRemote()
, AppRemote()
, reserve(0)
, crc(0) {
(void)_alloc;
led.assign( ::unitree_legged_msgs::LED_<ContainerAllocator> (_alloc));
wirelessRemote.assign(0);
AppRemote.assign(0);
}
typedef uint8_t _levelFlag_type;
_levelFlag_type levelFlag;
typedef uint16_t _commVersion_type;
_commVersion_type commVersion;
typedef uint16_t _robotID_type;
_robotID_type robotID;
typedef uint32_t _SN_type;
_SN_type SN;
typedef uint8_t _bandWidth_type;
_bandWidth_type bandWidth;
typedef uint8_t _mode_type;
_mode_type mode;
typedef float _forwardSpeed_type;
_forwardSpeed_type forwardSpeed;
typedef float _sideSpeed_type;
_sideSpeed_type sideSpeed;
typedef float _rotateSpeed_type;
_rotateSpeed_type rotateSpeed;
typedef float _bodyHeight_type;
_bodyHeight_type bodyHeight;
typedef float _footRaiseHeight_type;
_footRaiseHeight_type footRaiseHeight;
typedef float _yaw_type;
_yaw_type yaw;
typedef float _pitch_type;
_pitch_type pitch;
typedef float _roll_type;
_roll_type roll;
typedef boost::array< ::unitree_legged_msgs::LED_<ContainerAllocator> , 4> _led_type;
_led_type led;
typedef boost::array<uint8_t, 40> _wirelessRemote_type;
_wirelessRemote_type wirelessRemote;
typedef boost::array<uint8_t, 40> _AppRemote_type;
_AppRemote_type AppRemote;
typedef uint32_t _reserve_type;
_reserve_type reserve;
typedef int32_t _crc_type;
_crc_type crc;
typedef boost::shared_ptr< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> const> ConstPtr;
}; // struct HighCmd_
typedef ::unitree_legged_msgs::HighCmd_<std::allocator<void> > HighCmd;
typedef boost::shared_ptr< ::unitree_legged_msgs::HighCmd > HighCmdPtr;
typedef boost::shared_ptr< ::unitree_legged_msgs::HighCmd const> HighCmdConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator>
std::ostream& operator<<(std::ostream& s, const ::unitree_legged_msgs::HighCmd_<ContainerAllocator> & v)
{
ros::message_operations::Printer< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> >::stream(s, "", v);
return s;
}
} // namespace unitree_legged_msgs
namespace ros
{
namespace message_traits
{
// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False}
// {'sensor_msgs': ['/opt/ros/kinetic/share/sensor_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/kinetic/share/geometry_msgs/cmake/../msg'], 'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'unitree_legged_msgs': ['/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg']}
// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
template <class ContainerAllocator>
struct IsFixedSize< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> >
: TrueType
{ };
template <class ContainerAllocator>
struct IsFixedSize< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> const>
: TrueType
{ };
template <class ContainerAllocator>
struct IsMessage< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> >
: TrueType
{ };
template <class ContainerAllocator>
struct IsMessage< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> const>
: TrueType
{ };
template <class ContainerAllocator>
struct HasHeader< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> >
: FalseType
{ };
template <class ContainerAllocator>
struct HasHeader< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> const>
: FalseType
{ };
template<class ContainerAllocator>
struct MD5Sum< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> >
{
static const char* value()
{
return "1a655499a3f64905db59ceed65ca774a";
}
static const char* value(const ::unitree_legged_msgs::HighCmd_<ContainerAllocator>&) { return value(); }
static const uint64_t static_value1 = 0x1a655499a3f64905ULL;
static const uint64_t static_value2 = 0xdb59ceed65ca774aULL;
};
template<class ContainerAllocator>
struct DataType< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> >
{
static const char* value()
{
return "unitree_legged_msgs/HighCmd";
}
static const char* value(const ::unitree_legged_msgs::HighCmd_<ContainerAllocator>&) { return value(); }
};
template<class ContainerAllocator>
struct Definition< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> >
{
static const char* value()
{
return "uint8 levelFlag\n\
uint16 commVersion # Old version Aliengo does not have\n\
uint16 robotID # Old version Aliengo does not have\n\
uint32 SN # Old version Aliengo does not have\n\
uint8 bandWidth # Old version Aliengo does not have\n\
uint8 mode\n\
float32 forwardSpeed\n\
float32 sideSpeed\n\
float32 rotateSpeed \n\
float32 bodyHeight\n\
float32 footRaiseHeight\n\
float32 yaw\n\
float32 pitch\n\
float32 roll\n\
LED[4] led\n\
uint8[40] wirelessRemote\n\
uint8[40] AppRemote # Old version Aliengo does not have\n\
uint32 reserve # Old version Aliengo does not have\n\
int32 crc\n\
================================================================================\n\
MSG: unitree_legged_msgs/LED\n\
uint8 r\n\
uint8 g\n\
uint8 b\n\
";
}
static const char* value(const ::unitree_legged_msgs::HighCmd_<ContainerAllocator>&) { return value(); }
};
} // namespace message_traits
} // namespace ros
namespace ros
{
namespace serialization
{
template<class ContainerAllocator> struct Serializer< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> >
{
template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
{
stream.next(m.levelFlag);
stream.next(m.commVersion);
stream.next(m.robotID);
stream.next(m.SN);
stream.next(m.bandWidth);
stream.next(m.mode);
stream.next(m.forwardSpeed);
stream.next(m.sideSpeed);
stream.next(m.rotateSpeed);
stream.next(m.bodyHeight);
stream.next(m.footRaiseHeight);
stream.next(m.yaw);
stream.next(m.pitch);
stream.next(m.roll);
stream.next(m.led);
stream.next(m.wirelessRemote);
stream.next(m.AppRemote);
stream.next(m.reserve);
stream.next(m.crc);
}
ROS_DECLARE_ALLINONE_SERIALIZER
}; // struct HighCmd_
} // namespace serialization
} // namespace ros
namespace ros
{
namespace message_operations
{
template<class ContainerAllocator>
struct Printer< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> >
{
template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::unitree_legged_msgs::HighCmd_<ContainerAllocator>& v)
{
s << indent << "levelFlag: ";
Printer<uint8_t>::stream(s, indent + " ", v.levelFlag);
s << indent << "commVersion: ";
Printer<uint16_t>::stream(s, indent + " ", v.commVersion);
s << indent << "robotID: ";
Printer<uint16_t>::stream(s, indent + " ", v.robotID);
s << indent << "SN: ";
Printer<uint32_t>::stream(s, indent + " ", v.SN);
s << indent << "bandWidth: ";
Printer<uint8_t>::stream(s, indent + " ", v.bandWidth);
s << indent << "mode: ";
Printer<uint8_t>::stream(s, indent + " ", v.mode);
s << indent << "forwardSpeed: ";
Printer<float>::stream(s, indent + " ", v.forwardSpeed);
s << indent << "sideSpeed: ";
Printer<float>::stream(s, indent + " ", v.sideSpeed);
s << indent << "rotateSpeed: ";
Printer<float>::stream(s, indent + " ", v.rotateSpeed);
s << indent << "bodyHeight: ";
Printer<float>::stream(s, indent + " ", v.bodyHeight);
s << indent << "footRaiseHeight: ";
Printer<float>::stream(s, indent + " ", v.footRaiseHeight);
s << indent << "yaw: ";
Printer<float>::stream(s, indent + " ", v.yaw);
s << indent << "pitch: ";
Printer<float>::stream(s, indent + " ", v.pitch);
s << indent << "roll: ";
Printer<float>::stream(s, indent + " ", v.roll);
s << indent << "led[]" << std::endl;
for (size_t i = 0; i < v.led.size(); ++i)
{
s << indent << " led[" << i << "]: ";
s << std::endl;
s << indent;
Printer< ::unitree_legged_msgs::LED_<ContainerAllocator> >::stream(s, indent + " ", v.led[i]);
}
s << indent << "wirelessRemote[]" << std::endl;
for (size_t i = 0; i < v.wirelessRemote.size(); ++i)
{
s << indent << " wirelessRemote[" << i << "]: ";
Printer<uint8_t>::stream(s, indent + " ", v.wirelessRemote[i]);
}
s << indent << "AppRemote[]" << std::endl;
for (size_t i = 0; i < v.AppRemote.size(); ++i)
{
s << indent << " AppRemote[" << i << "]: ";
Printer<uint8_t>::stream(s, indent + " ", v.AppRemote[i]);
}
s << indent << "reserve: ";
Printer<uint32_t>::stream(s, indent + " ", v.reserve);
s << indent << "crc: ";
Printer<int32_t>::stream(s, indent + " ", v.crc);
}
};
} // namespace message_operations
} // namespace ros
#endif // UNITREE_LEGGED_MSGS_MESSAGE_HIGHCMD_H

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// Generated by gencpp from file unitree_legged_msgs/HighState.msg
// DO NOT EDIT!
#ifndef UNITREE_LEGGED_MSGS_MESSAGE_HIGHSTATE_H
#define UNITREE_LEGGED_MSGS_MESSAGE_HIGHSTATE_H
#include <string>
#include <vector>
#include <map>
#include <ros/types.h>
#include <ros/serialization.h>
#include <ros/builtin_message_traits.h>
#include <ros/message_operations.h>
#include <unitree_legged_msgs/IMU.h>
#include <unitree_legged_msgs/Cartesian.h>
#include <unitree_legged_msgs/Cartesian.h>
#include <unitree_legged_msgs/Cartesian.h>
namespace unitree_legged_msgs
{
template <class ContainerAllocator>
struct HighState_
{
typedef HighState_<ContainerAllocator> Type;
HighState_()
: levelFlag(0)
, commVersion(0)
, robotID(0)
, SN(0)
, bandWidth(0)
, mode(0)
, imu()
, forwardSpeed(0.0)
, sideSpeed(0.0)
, rotateSpeed(0.0)
, bodyHeight(0.0)
, updownSpeed(0.0)
, forwardPosition(0.0)
, sidePosition(0.0)
, footPosition2Body()
, footSpeed2Body()
, footForce()
, footForceEst()
, tick(0)
, wirelessRemote()
, reserve(0)
, crc(0)
, eeForce()
, jointP() {
footForce.assign(0);
footForceEst.assign(0);
wirelessRemote.assign(0);
jointP.assign(0.0);
}
HighState_(const ContainerAllocator& _alloc)
: levelFlag(0)
, commVersion(0)
, robotID(0)
, SN(0)
, bandWidth(0)
, mode(0)
, imu(_alloc)
, forwardSpeed(0.0)
, sideSpeed(0.0)
, rotateSpeed(0.0)
, bodyHeight(0.0)
, updownSpeed(0.0)
, forwardPosition(0.0)
, sidePosition(0.0)
, footPosition2Body()
, footSpeed2Body()
, footForce()
, footForceEst()
, tick(0)
, wirelessRemote()
, reserve(0)
, crc(0)
, eeForce()
, jointP() {
(void)_alloc;
footPosition2Body.assign( ::unitree_legged_msgs::Cartesian_<ContainerAllocator> (_alloc));
footSpeed2Body.assign( ::unitree_legged_msgs::Cartesian_<ContainerAllocator> (_alloc));
footForce.assign(0);
footForceEst.assign(0);
wirelessRemote.assign(0);
eeForce.assign( ::unitree_legged_msgs::Cartesian_<ContainerAllocator> (_alloc));
jointP.assign(0.0);
}
typedef uint8_t _levelFlag_type;
_levelFlag_type levelFlag;
typedef uint16_t _commVersion_type;
_commVersion_type commVersion;
typedef uint16_t _robotID_type;
_robotID_type robotID;
typedef uint32_t _SN_type;
_SN_type SN;
typedef uint8_t _bandWidth_type;
_bandWidth_type bandWidth;
typedef uint8_t _mode_type;
_mode_type mode;
typedef ::unitree_legged_msgs::IMU_<ContainerAllocator> _imu_type;
_imu_type imu;
typedef float _forwardSpeed_type;
_forwardSpeed_type forwardSpeed;
typedef float _sideSpeed_type;
_sideSpeed_type sideSpeed;
typedef float _rotateSpeed_type;
_rotateSpeed_type rotateSpeed;
typedef float _bodyHeight_type;
_bodyHeight_type bodyHeight;
typedef float _updownSpeed_type;
_updownSpeed_type updownSpeed;
typedef float _forwardPosition_type;
_forwardPosition_type forwardPosition;
typedef float _sidePosition_type;
_sidePosition_type sidePosition;
typedef boost::array< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> , 4> _footPosition2Body_type;
_footPosition2Body_type footPosition2Body;
typedef boost::array< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> , 4> _footSpeed2Body_type;
_footSpeed2Body_type footSpeed2Body;
typedef boost::array<int16_t, 4> _footForce_type;
_footForce_type footForce;
typedef boost::array<int16_t, 4> _footForceEst_type;
_footForceEst_type footForceEst;
typedef uint32_t _tick_type;
_tick_type tick;
typedef boost::array<uint8_t, 40> _wirelessRemote_type;
_wirelessRemote_type wirelessRemote;
typedef uint32_t _reserve_type;
_reserve_type reserve;
typedef uint32_t _crc_type;
_crc_type crc;
typedef boost::array< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> , 4> _eeForce_type;
_eeForce_type eeForce;
typedef boost::array<float, 12> _jointP_type;
_jointP_type jointP;
typedef boost::shared_ptr< ::unitree_legged_msgs::HighState_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::unitree_legged_msgs::HighState_<ContainerAllocator> const> ConstPtr;
}; // struct HighState_
typedef ::unitree_legged_msgs::HighState_<std::allocator<void> > HighState;
typedef boost::shared_ptr< ::unitree_legged_msgs::HighState > HighStatePtr;
typedef boost::shared_ptr< ::unitree_legged_msgs::HighState const> HighStateConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator>
std::ostream& operator<<(std::ostream& s, const ::unitree_legged_msgs::HighState_<ContainerAllocator> & v)
{
ros::message_operations::Printer< ::unitree_legged_msgs::HighState_<ContainerAllocator> >::stream(s, "", v);
return s;
}
} // namespace unitree_legged_msgs
namespace ros
{
namespace message_traits
{
// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False}
// {'sensor_msgs': ['/opt/ros/kinetic/share/sensor_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/kinetic/share/geometry_msgs/cmake/../msg'], 'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'unitree_legged_msgs': ['/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg']}
// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
template <class ContainerAllocator>
struct IsFixedSize< ::unitree_legged_msgs::HighState_<ContainerAllocator> >
: TrueType
{ };
template <class ContainerAllocator>
struct IsFixedSize< ::unitree_legged_msgs::HighState_<ContainerAllocator> const>
: TrueType
{ };
template <class ContainerAllocator>
struct IsMessage< ::unitree_legged_msgs::HighState_<ContainerAllocator> >
: TrueType
{ };
template <class ContainerAllocator>
struct IsMessage< ::unitree_legged_msgs::HighState_<ContainerAllocator> const>
: TrueType
{ };
template <class ContainerAllocator>
struct HasHeader< ::unitree_legged_msgs::HighState_<ContainerAllocator> >
: FalseType
{ };
template <class ContainerAllocator>
struct HasHeader< ::unitree_legged_msgs::HighState_<ContainerAllocator> const>
: FalseType
{ };
template<class ContainerAllocator>
struct MD5Sum< ::unitree_legged_msgs::HighState_<ContainerAllocator> >
{
static const char* value()
{
return "a12e8b22df896c82203810ec6d521dad";
}
static const char* value(const ::unitree_legged_msgs::HighState_<ContainerAllocator>&) { return value(); }
static const uint64_t static_value1 = 0xa12e8b22df896c82ULL;
static const uint64_t static_value2 = 0x203810ec6d521dadULL;
};
template<class ContainerAllocator>
struct DataType< ::unitree_legged_msgs::HighState_<ContainerAllocator> >
{
static const char* value()
{
return "unitree_legged_msgs/HighState";
}
static const char* value(const ::unitree_legged_msgs::HighState_<ContainerAllocator>&) { return value(); }
};
template<class ContainerAllocator>
struct Definition< ::unitree_legged_msgs::HighState_<ContainerAllocator> >
{
static const char* value()
{
return "uint8 levelFlag\n\
uint16 commVersion # Old version Aliengo does not have\n\
uint16 robotID # Old version Aliengo does not have\n\
uint32 SN # Old version Aliengo does not have\n\
uint8 bandWidth # Old version Aliengo does not have\n\
uint8 mode\n\
IMU imu\n\
float32 forwardSpeed\n\
float32 sideSpeed\n\
float32 rotateSpeed\n\
float32 bodyHeight\n\
float32 updownSpeed\n\
float32 forwardPosition # (will be float type next version) # Old version Aliengo is different\n\
float32 sidePosition # (will be float type next version) # Old version Aliengo is different\n\
Cartesian[4] footPosition2Body\n\
Cartesian[4] footSpeed2Body\n\
int16[4] footForce # Old version Aliengo is different\n\
int16[4] footForceEst # Old version Aliengo does not have\n\
uint32 tick \n\
uint8[40] wirelessRemote\n\
uint32 reserve # Old version Aliengo does not have\n\
uint32 crc\n\
\n\
# Under are not defined in SDK yet. # Old version Aliengo does not have\n\
Cartesian[4] eeForce # It's a 1-DOF force in real robot, but 3-DOF is better for visualization.\n\
float32[12] jointP # for visualization\n\
================================================================================\n\
MSG: unitree_legged_msgs/IMU\n\
float32[4] quaternion\n\
float32[3] gyroscope\n\
float32[3] accelerometer\n\
int8 temperature\n\
================================================================================\n\
MSG: unitree_legged_msgs/Cartesian\n\
float32 x\n\
float32 y\n\
float32 z\n\
";
}
static const char* value(const ::unitree_legged_msgs::HighState_<ContainerAllocator>&) { return value(); }
};
} // namespace message_traits
} // namespace ros
namespace ros
{
namespace serialization
{
template<class ContainerAllocator> struct Serializer< ::unitree_legged_msgs::HighState_<ContainerAllocator> >
{
template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
{
stream.next(m.levelFlag);
stream.next(m.commVersion);
stream.next(m.robotID);
stream.next(m.SN);
stream.next(m.bandWidth);
stream.next(m.mode);
stream.next(m.imu);
stream.next(m.forwardSpeed);
stream.next(m.sideSpeed);
stream.next(m.rotateSpeed);
stream.next(m.bodyHeight);
stream.next(m.updownSpeed);
stream.next(m.forwardPosition);
stream.next(m.sidePosition);
stream.next(m.footPosition2Body);
stream.next(m.footSpeed2Body);
stream.next(m.footForce);
stream.next(m.footForceEst);
stream.next(m.tick);
stream.next(m.wirelessRemote);
stream.next(m.reserve);
stream.next(m.crc);
stream.next(m.eeForce);
stream.next(m.jointP);
}
ROS_DECLARE_ALLINONE_SERIALIZER
}; // struct HighState_
} // namespace serialization
} // namespace ros
namespace ros
{
namespace message_operations
{
template<class ContainerAllocator>
struct Printer< ::unitree_legged_msgs::HighState_<ContainerAllocator> >
{
template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::unitree_legged_msgs::HighState_<ContainerAllocator>& v)
{
s << indent << "levelFlag: ";
Printer<uint8_t>::stream(s, indent + " ", v.levelFlag);
s << indent << "commVersion: ";
Printer<uint16_t>::stream(s, indent + " ", v.commVersion);
s << indent << "robotID: ";
Printer<uint16_t>::stream(s, indent + " ", v.robotID);
s << indent << "SN: ";
Printer<uint32_t>::stream(s, indent + " ", v.SN);
s << indent << "bandWidth: ";
Printer<uint8_t>::stream(s, indent + " ", v.bandWidth);
s << indent << "mode: ";
Printer<uint8_t>::stream(s, indent + " ", v.mode);
s << indent << "imu: ";
s << std::endl;
Printer< ::unitree_legged_msgs::IMU_<ContainerAllocator> >::stream(s, indent + " ", v.imu);
s << indent << "forwardSpeed: ";
Printer<float>::stream(s, indent + " ", v.forwardSpeed);
s << indent << "sideSpeed: ";
Printer<float>::stream(s, indent + " ", v.sideSpeed);
s << indent << "rotateSpeed: ";
Printer<float>::stream(s, indent + " ", v.rotateSpeed);
s << indent << "bodyHeight: ";
Printer<float>::stream(s, indent + " ", v.bodyHeight);
s << indent << "updownSpeed: ";
Printer<float>::stream(s, indent + " ", v.updownSpeed);
s << indent << "forwardPosition: ";
Printer<float>::stream(s, indent + " ", v.forwardPosition);
s << indent << "sidePosition: ";
Printer<float>::stream(s, indent + " ", v.sidePosition);
s << indent << "footPosition2Body[]" << std::endl;
for (size_t i = 0; i < v.footPosition2Body.size(); ++i)
{
s << indent << " footPosition2Body[" << i << "]: ";
s << std::endl;
s << indent;
Printer< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >::stream(s, indent + " ", v.footPosition2Body[i]);
}
s << indent << "footSpeed2Body[]" << std::endl;
for (size_t i = 0; i < v.footSpeed2Body.size(); ++i)
{
s << indent << " footSpeed2Body[" << i << "]: ";
s << std::endl;
s << indent;
Printer< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >::stream(s, indent + " ", v.footSpeed2Body[i]);
}
s << indent << "footForce[]" << std::endl;
for (size_t i = 0; i < v.footForce.size(); ++i)
{
s << indent << " footForce[" << i << "]: ";
Printer<int16_t>::stream(s, indent + " ", v.footForce[i]);
}
s << indent << "footForceEst[]" << std::endl;
for (size_t i = 0; i < v.footForceEst.size(); ++i)
{
s << indent << " footForceEst[" << i << "]: ";
Printer<int16_t>::stream(s, indent + " ", v.footForceEst[i]);
}
s << indent << "tick: ";
Printer<uint32_t>::stream(s, indent + " ", v.tick);
s << indent << "wirelessRemote[]" << std::endl;
for (size_t i = 0; i < v.wirelessRemote.size(); ++i)
{
s << indent << " wirelessRemote[" << i << "]: ";
Printer<uint8_t>::stream(s, indent + " ", v.wirelessRemote[i]);
}
s << indent << "reserve: ";
Printer<uint32_t>::stream(s, indent + " ", v.reserve);
s << indent << "crc: ";
Printer<uint32_t>::stream(s, indent + " ", v.crc);
s << indent << "eeForce[]" << std::endl;
for (size_t i = 0; i < v.eeForce.size(); ++i)
{
s << indent << " eeForce[" << i << "]: ";
s << std::endl;
s << indent;
Printer< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >::stream(s, indent + " ", v.eeForce[i]);
}
s << indent << "jointP[]" << std::endl;
for (size_t i = 0; i < v.jointP.size(); ++i)
{
s << indent << " jointP[" << i << "]: ";
Printer<float>::stream(s, indent + " ", v.jointP[i]);
}
}
};
} // namespace message_operations
} // namespace ros
#endif // UNITREE_LEGGED_MSGS_MESSAGE_HIGHSTATE_H

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// Generated by gencpp from file unitree_legged_msgs/IMU.msg
// DO NOT EDIT!
#ifndef UNITREE_LEGGED_MSGS_MESSAGE_IMU_H
#define UNITREE_LEGGED_MSGS_MESSAGE_IMU_H
#include <string>
#include <vector>
#include <map>
#include <ros/types.h>
#include <ros/serialization.h>
#include <ros/builtin_message_traits.h>
#include <ros/message_operations.h>
namespace unitree_legged_msgs
{
template <class ContainerAllocator>
struct IMU_
{
typedef IMU_<ContainerAllocator> Type;
IMU_()
: quaternion()
, gyroscope()
, accelerometer()
, temperature(0) {
quaternion.assign(0.0);
gyroscope.assign(0.0);
accelerometer.assign(0.0);
}
IMU_(const ContainerAllocator& _alloc)
: quaternion()
, gyroscope()
, accelerometer()
, temperature(0) {
(void)_alloc;
quaternion.assign(0.0);
gyroscope.assign(0.0);
accelerometer.assign(0.0);
}
typedef boost::array<float, 4> _quaternion_type;
_quaternion_type quaternion;
typedef boost::array<float, 3> _gyroscope_type;
_gyroscope_type gyroscope;
typedef boost::array<float, 3> _accelerometer_type;
_accelerometer_type accelerometer;
typedef int8_t _temperature_type;
_temperature_type temperature;
typedef boost::shared_ptr< ::unitree_legged_msgs::IMU_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::unitree_legged_msgs::IMU_<ContainerAllocator> const> ConstPtr;
}; // struct IMU_
typedef ::unitree_legged_msgs::IMU_<std::allocator<void> > IMU;
typedef boost::shared_ptr< ::unitree_legged_msgs::IMU > IMUPtr;
typedef boost::shared_ptr< ::unitree_legged_msgs::IMU const> IMUConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator>
std::ostream& operator<<(std::ostream& s, const ::unitree_legged_msgs::IMU_<ContainerAllocator> & v)
{
ros::message_operations::Printer< ::unitree_legged_msgs::IMU_<ContainerAllocator> >::stream(s, "", v);
return s;
}
} // namespace unitree_legged_msgs
namespace ros
{
namespace message_traits
{
// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False}
// {'sensor_msgs': ['/opt/ros/kinetic/share/sensor_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/kinetic/share/geometry_msgs/cmake/../msg'], 'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'unitree_legged_msgs': ['/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg']}
// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
template <class ContainerAllocator>
struct IsFixedSize< ::unitree_legged_msgs::IMU_<ContainerAllocator> >
: TrueType
{ };
template <class ContainerAllocator>
struct IsFixedSize< ::unitree_legged_msgs::IMU_<ContainerAllocator> const>
: TrueType
{ };
template <class ContainerAllocator>
struct IsMessage< ::unitree_legged_msgs::IMU_<ContainerAllocator> >
: TrueType
{ };
template <class ContainerAllocator>
struct IsMessage< ::unitree_legged_msgs::IMU_<ContainerAllocator> const>
: TrueType
{ };
template <class ContainerAllocator>
struct HasHeader< ::unitree_legged_msgs::IMU_<ContainerAllocator> >
: FalseType
{ };
template <class ContainerAllocator>
struct HasHeader< ::unitree_legged_msgs::IMU_<ContainerAllocator> const>
: FalseType
{ };
template<class ContainerAllocator>
struct MD5Sum< ::unitree_legged_msgs::IMU_<ContainerAllocator> >
{
static const char* value()
{
return "dd4bb4e42aa2f15aa1fb1b6a3c3752cb";
}
static const char* value(const ::unitree_legged_msgs::IMU_<ContainerAllocator>&) { return value(); }
static const uint64_t static_value1 = 0xdd4bb4e42aa2f15aULL;
static const uint64_t static_value2 = 0xa1fb1b6a3c3752cbULL;
};
template<class ContainerAllocator>
struct DataType< ::unitree_legged_msgs::IMU_<ContainerAllocator> >
{
static const char* value()
{
return "unitree_legged_msgs/IMU";
}
static const char* value(const ::unitree_legged_msgs::IMU_<ContainerAllocator>&) { return value(); }
};
template<class ContainerAllocator>
struct Definition< ::unitree_legged_msgs::IMU_<ContainerAllocator> >
{
static const char* value()
{
return "float32[4] quaternion\n\
float32[3] gyroscope\n\
float32[3] accelerometer\n\
int8 temperature\n\
";
}
static const char* value(const ::unitree_legged_msgs::IMU_<ContainerAllocator>&) { return value(); }
};
} // namespace message_traits
} // namespace ros
namespace ros
{
namespace serialization
{
template<class ContainerAllocator> struct Serializer< ::unitree_legged_msgs::IMU_<ContainerAllocator> >
{
template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
{
stream.next(m.quaternion);
stream.next(m.gyroscope);
stream.next(m.accelerometer);
stream.next(m.temperature);
}
ROS_DECLARE_ALLINONE_SERIALIZER
}; // struct IMU_
} // namespace serialization
} // namespace ros
namespace ros
{
namespace message_operations
{
template<class ContainerAllocator>
struct Printer< ::unitree_legged_msgs::IMU_<ContainerAllocator> >
{
template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::unitree_legged_msgs::IMU_<ContainerAllocator>& v)
{
s << indent << "quaternion[]" << std::endl;
for (size_t i = 0; i < v.quaternion.size(); ++i)
{
s << indent << " quaternion[" << i << "]: ";
Printer<float>::stream(s, indent + " ", v.quaternion[i]);
}
s << indent << "gyroscope[]" << std::endl;
for (size_t i = 0; i < v.gyroscope.size(); ++i)
{
s << indent << " gyroscope[" << i << "]: ";
Printer<float>::stream(s, indent + " ", v.gyroscope[i]);
}
s << indent << "accelerometer[]" << std::endl;
for (size_t i = 0; i < v.accelerometer.size(); ++i)
{
s << indent << " accelerometer[" << i << "]: ";
Printer<float>::stream(s, indent + " ", v.accelerometer[i]);
}
s << indent << "temperature: ";
Printer<int8_t>::stream(s, indent + " ", v.temperature);
}
};
} // namespace message_operations
} // namespace ros
#endif // UNITREE_LEGGED_MSGS_MESSAGE_IMU_H

205
src/客户端代码/devel/include/unitree_legged_msgs/LED.h
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// Generated by gencpp from file unitree_legged_msgs/LED.msg
// DO NOT EDIT!
#ifndef UNITREE_LEGGED_MSGS_MESSAGE_LED_H
#define UNITREE_LEGGED_MSGS_MESSAGE_LED_H
#include <string>
#include <vector>
#include <map>
#include <ros/types.h>
#include <ros/serialization.h>
#include <ros/builtin_message_traits.h>
#include <ros/message_operations.h>
namespace unitree_legged_msgs
{
template <class ContainerAllocator>
struct LED_
{
typedef LED_<ContainerAllocator> Type;
LED_()
: r(0)
, g(0)
, b(0) {
}
LED_(const ContainerAllocator& _alloc)
: r(0)
, g(0)
, b(0) {
(void)_alloc;
}
typedef uint8_t _r_type;
_r_type r;
typedef uint8_t _g_type;
_g_type g;
typedef uint8_t _b_type;
_b_type b;
typedef boost::shared_ptr< ::unitree_legged_msgs::LED_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::unitree_legged_msgs::LED_<ContainerAllocator> const> ConstPtr;
}; // struct LED_
typedef ::unitree_legged_msgs::LED_<std::allocator<void> > LED;
typedef boost::shared_ptr< ::unitree_legged_msgs::LED > LEDPtr;
typedef boost::shared_ptr< ::unitree_legged_msgs::LED const> LEDConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator>
std::ostream& operator<<(std::ostream& s, const ::unitree_legged_msgs::LED_<ContainerAllocator> & v)
{
ros::message_operations::Printer< ::unitree_legged_msgs::LED_<ContainerAllocator> >::stream(s, "", v);
return s;
}
} // namespace unitree_legged_msgs
namespace ros
{
namespace message_traits
{
// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False}
// {'sensor_msgs': ['/opt/ros/kinetic/share/sensor_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/kinetic/share/geometry_msgs/cmake/../msg'], 'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'unitree_legged_msgs': ['/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg']}
// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
template <class ContainerAllocator>
struct IsFixedSize< ::unitree_legged_msgs::LED_<ContainerAllocator> >
: TrueType
{ };
template <class ContainerAllocator>
struct IsFixedSize< ::unitree_legged_msgs::LED_<ContainerAllocator> const>
: TrueType
{ };
template <class ContainerAllocator>
struct IsMessage< ::unitree_legged_msgs::LED_<ContainerAllocator> >
: TrueType
{ };
template <class ContainerAllocator>
struct IsMessage< ::unitree_legged_msgs::LED_<ContainerAllocator> const>
: TrueType
{ };
template <class ContainerAllocator>
struct HasHeader< ::unitree_legged_msgs::LED_<ContainerAllocator> >
: FalseType
{ };
template <class ContainerAllocator>
struct HasHeader< ::unitree_legged_msgs::LED_<ContainerAllocator> const>
: FalseType
{ };
template<class ContainerAllocator>
struct MD5Sum< ::unitree_legged_msgs::LED_<ContainerAllocator> >
{
static const char* value()
{
return "353891e354491c51aabe32df673fb446";
}
static const char* value(const ::unitree_legged_msgs::LED_<ContainerAllocator>&) { return value(); }
static const uint64_t static_value1 = 0x353891e354491c51ULL;
static const uint64_t static_value2 = 0xaabe32df673fb446ULL;
};
template<class ContainerAllocator>
struct DataType< ::unitree_legged_msgs::LED_<ContainerAllocator> >
{
static const char* value()
{
return "unitree_legged_msgs/LED";
}
static const char* value(const ::unitree_legged_msgs::LED_<ContainerAllocator>&) { return value(); }
};
template<class ContainerAllocator>
struct Definition< ::unitree_legged_msgs::LED_<ContainerAllocator> >
{
static const char* value()
{
return "uint8 r\n\
uint8 g\n\
uint8 b\n\
";
}
static const char* value(const ::unitree_legged_msgs::LED_<ContainerAllocator>&) { return value(); }
};
} // namespace message_traits
} // namespace ros
namespace ros
{
namespace serialization
{
template<class ContainerAllocator> struct Serializer< ::unitree_legged_msgs::LED_<ContainerAllocator> >
{
template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
{
stream.next(m.r);
stream.next(m.g);
stream.next(m.b);
}
ROS_DECLARE_ALLINONE_SERIALIZER
}; // struct LED_
} // namespace serialization
} // namespace ros
namespace ros
{
namespace message_operations
{
template<class ContainerAllocator>
struct Printer< ::unitree_legged_msgs::LED_<ContainerAllocator> >
{
template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::unitree_legged_msgs::LED_<ContainerAllocator>& v)
{
s << indent << "r: ";
Printer<uint8_t>::stream(s, indent + " ", v.r);
s << indent << "g: ";
Printer<uint8_t>::stream(s, indent + " ", v.g);
s << indent << "b: ";
Printer<uint8_t>::stream(s, indent + " ", v.b);
}
};
} // namespace message_operations
} // namespace ros
#endif // UNITREE_LEGGED_MSGS_MESSAGE_LED_H

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src/客户端代码/devel/include/unitree_legged_msgs/LowCmd.h
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// Generated by gencpp from file unitree_legged_msgs/LowCmd.msg
// DO NOT EDIT!
#ifndef UNITREE_LEGGED_MSGS_MESSAGE_LOWCMD_H
#define UNITREE_LEGGED_MSGS_MESSAGE_LOWCMD_H
#include <string>
#include <vector>
#include <map>
#include <ros/types.h>
#include <ros/serialization.h>
#include <ros/builtin_message_traits.h>
#include <ros/message_operations.h>
#include <unitree_legged_msgs/MotorCmd.h>
#include <unitree_legged_msgs/LED.h>
#include <unitree_legged_msgs/Cartesian.h>
namespace unitree_legged_msgs
{
template <class ContainerAllocator>
struct LowCmd_
{
typedef LowCmd_<ContainerAllocator> Type;
LowCmd_()
: levelFlag(0)
, commVersion(0)
, robotID(0)
, SN(0)
, bandWidth(0)
, motorCmd()
, led()
, wirelessRemote()
, reserve(0)
, crc(0)
, ff() {
wirelessRemote.assign(0);
}
LowCmd_(const ContainerAllocator& _alloc)
: levelFlag(0)
, commVersion(0)
, robotID(0)
, SN(0)
, bandWidth(0)
, motorCmd()
, led()
, wirelessRemote()
, reserve(0)
, crc(0)
, ff() {
(void)_alloc;
motorCmd.assign( ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> (_alloc));
led.assign( ::unitree_legged_msgs::LED_<ContainerAllocator> (_alloc));
wirelessRemote.assign(0);
ff.assign( ::unitree_legged_msgs::Cartesian_<ContainerAllocator> (_alloc));
}
typedef uint8_t _levelFlag_type;
_levelFlag_type levelFlag;
typedef uint16_t _commVersion_type;
_commVersion_type commVersion;
typedef uint16_t _robotID_type;
_robotID_type robotID;
typedef uint32_t _SN_type;
_SN_type SN;
typedef uint8_t _bandWidth_type;
_bandWidth_type bandWidth;
typedef boost::array< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> , 20> _motorCmd_type;
_motorCmd_type motorCmd;
typedef boost::array< ::unitree_legged_msgs::LED_<ContainerAllocator> , 4> _led_type;
_led_type led;
typedef boost::array<uint8_t, 40> _wirelessRemote_type;
_wirelessRemote_type wirelessRemote;
typedef uint32_t _reserve_type;
_reserve_type reserve;
typedef uint32_t _crc_type;
_crc_type crc;
typedef boost::array< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> , 4> _ff_type;
_ff_type ff;
typedef boost::shared_ptr< ::unitree_legged_msgs::LowCmd_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::unitree_legged_msgs::LowCmd_<ContainerAllocator> const> ConstPtr;
}; // struct LowCmd_
typedef ::unitree_legged_msgs::LowCmd_<std::allocator<void> > LowCmd;
typedef boost::shared_ptr< ::unitree_legged_msgs::LowCmd > LowCmdPtr;
typedef boost::shared_ptr< ::unitree_legged_msgs::LowCmd const> LowCmdConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator>
std::ostream& operator<<(std::ostream& s, const ::unitree_legged_msgs::LowCmd_<ContainerAllocator> & v)
{
ros::message_operations::Printer< ::unitree_legged_msgs::LowCmd_<ContainerAllocator> >::stream(s, "", v);
return s;
}
} // namespace unitree_legged_msgs
namespace ros
{
namespace message_traits
{
// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False}
// {'sensor_msgs': ['/opt/ros/kinetic/share/sensor_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/kinetic/share/geometry_msgs/cmake/../msg'], 'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'unitree_legged_msgs': ['/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg']}
// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
template <class ContainerAllocator>
struct IsFixedSize< ::unitree_legged_msgs::LowCmd_<ContainerAllocator> >
: TrueType
{ };
template <class ContainerAllocator>
struct IsFixedSize< ::unitree_legged_msgs::LowCmd_<ContainerAllocator> const>
: TrueType
{ };
template <class ContainerAllocator>
struct IsMessage< ::unitree_legged_msgs::LowCmd_<ContainerAllocator> >
: TrueType
{ };
template <class ContainerAllocator>
struct IsMessage< ::unitree_legged_msgs::LowCmd_<ContainerAllocator> const>
: TrueType
{ };
template <class ContainerAllocator>
struct HasHeader< ::unitree_legged_msgs::LowCmd_<ContainerAllocator> >
: FalseType
{ };
template <class ContainerAllocator>
struct HasHeader< ::unitree_legged_msgs::LowCmd_<ContainerAllocator> const>
: FalseType
{ };
template<class ContainerAllocator>
struct MD5Sum< ::unitree_legged_msgs::LowCmd_<ContainerAllocator> >
{
static const char* value()
{
return "357432b2562edd0a8e89b9c9f5fc4821";
}
static const char* value(const ::unitree_legged_msgs::LowCmd_<ContainerAllocator>&) { return value(); }
static const uint64_t static_value1 = 0x357432b2562edd0aULL;
static const uint64_t static_value2 = 0x8e89b9c9f5fc4821ULL;
};
template<class ContainerAllocator>
struct DataType< ::unitree_legged_msgs::LowCmd_<ContainerAllocator> >
{
static const char* value()
{
return "unitree_legged_msgs/LowCmd";
}
static const char* value(const ::unitree_legged_msgs::LowCmd_<ContainerAllocator>&) { return value(); }
};
template<class ContainerAllocator>
struct Definition< ::unitree_legged_msgs::LowCmd_<ContainerAllocator> >
{
static const char* value()
{
return "uint8 levelFlag \n\
uint16 commVersion # Old version Aliengo does not have\n\
uint16 robotID # Old version Aliengo does not have\n\
uint32 SN # Old version Aliengo does not have\n\
uint8 bandWidth # Old version Aliengo does not have\n\
MotorCmd[20] motorCmd\n\
LED[4] led\n\
uint8[40] wirelessRemote\n\
uint32 reserve # Old version Aliengo does not have\n\
uint32 crc\n\
\n\
Cartesian[4] ff # will delete # Old version Aliengo does not have\n\
================================================================================\n\
MSG: unitree_legged_msgs/MotorCmd\n\
uint8 mode # motor target mode\n\
float32 q # motor target position\n\
float32 dq # motor target velocity\n\
float32 tau # motor target torque\n\
float32 Kp # motor spring stiffness coefficient\n\
float32 Kd # motor damper coefficient\n\
uint32[3] reserve # motor target torque\n\
================================================================================\n\
MSG: unitree_legged_msgs/LED\n\
uint8 r\n\
uint8 g\n\
uint8 b\n\
================================================================================\n\
MSG: unitree_legged_msgs/Cartesian\n\
float32 x\n\
float32 y\n\
float32 z\n\
";
}
static const char* value(const ::unitree_legged_msgs::LowCmd_<ContainerAllocator>&) { return value(); }
};
} // namespace message_traits
} // namespace ros
namespace ros
{
namespace serialization
{
template<class ContainerAllocator> struct Serializer< ::unitree_legged_msgs::LowCmd_<ContainerAllocator> >
{
template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
{
stream.next(m.levelFlag);
stream.next(m.commVersion);
stream.next(m.robotID);
stream.next(m.SN);
stream.next(m.bandWidth);
stream.next(m.motorCmd);
stream.next(m.led);
stream.next(m.wirelessRemote);
stream.next(m.reserve);
stream.next(m.crc);
stream.next(m.ff);
}
ROS_DECLARE_ALLINONE_SERIALIZER
}; // struct LowCmd_
} // namespace serialization
} // namespace ros
namespace ros
{
namespace message_operations
{
template<class ContainerAllocator>
struct Printer< ::unitree_legged_msgs::LowCmd_<ContainerAllocator> >
{
template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::unitree_legged_msgs::LowCmd_<ContainerAllocator>& v)
{
s << indent << "levelFlag: ";
Printer<uint8_t>::stream(s, indent + " ", v.levelFlag);
s << indent << "commVersion: ";
Printer<uint16_t>::stream(s, indent + " ", v.commVersion);
s << indent << "robotID: ";
Printer<uint16_t>::stream(s, indent + " ", v.robotID);
s << indent << "SN: ";
Printer<uint32_t>::stream(s, indent + " ", v.SN);
s << indent << "bandWidth: ";
Printer<uint8_t>::stream(s, indent + " ", v.bandWidth);
s << indent << "motorCmd[]" << std::endl;
for (size_t i = 0; i < v.motorCmd.size(); ++i)
{
s << indent << " motorCmd[" << i << "]: ";
s << std::endl;
s << indent;
Printer< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >::stream(s, indent + " ", v.motorCmd[i]);
}
s << indent << "led[]" << std::endl;
for (size_t i = 0; i < v.led.size(); ++i)
{
s << indent << " led[" << i << "]: ";
s << std::endl;
s << indent;
Printer< ::unitree_legged_msgs::LED_<ContainerAllocator> >::stream(s, indent + " ", v.led[i]);
}
s << indent << "wirelessRemote[]" << std::endl;
for (size_t i = 0; i < v.wirelessRemote.size(); ++i)
{
s << indent << " wirelessRemote[" << i << "]: ";
Printer<uint8_t>::stream(s, indent + " ", v.wirelessRemote[i]);
}
s << indent << "reserve: ";
Printer<uint32_t>::stream(s, indent + " ", v.reserve);
s << indent << "crc: ";
Printer<uint32_t>::stream(s, indent + " ", v.crc);
s << indent << "ff[]" << std::endl;
for (size_t i = 0; i < v.ff.size(); ++i)
{
s << indent << " ff[" << i << "]: ";
s << std::endl;
s << indent;
Printer< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >::stream(s, indent + " ", v.ff[i]);
}
}
};
} // namespace message_operations
} // namespace ros
#endif // UNITREE_LEGGED_MSGS_MESSAGE_LOWCMD_H

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src/客户端代码/devel/include/unitree_legged_msgs/LowState.h
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// Generated by gencpp from file unitree_legged_msgs/LowState.msg
// DO NOT EDIT!
#ifndef UNITREE_LEGGED_MSGS_MESSAGE_LOWSTATE_H
#define UNITREE_LEGGED_MSGS_MESSAGE_LOWSTATE_H
#include <string>
#include <vector>
#include <map>
#include <ros/types.h>
#include <ros/serialization.h>
#include <ros/builtin_message_traits.h>
#include <ros/message_operations.h>
#include <unitree_legged_msgs/IMU.h>
#include <unitree_legged_msgs/MotorState.h>
#include <unitree_legged_msgs/Cartesian.h>
#include <unitree_legged_msgs/Cartesian.h>
#include <unitree_legged_msgs/Cartesian.h>
#include <unitree_legged_msgs/Cartesian.h>
#include <unitree_legged_msgs/Cartesian.h>
namespace unitree_legged_msgs
{
template <class ContainerAllocator>
struct LowState_
{
typedef LowState_<ContainerAllocator> Type;
LowState_()
: levelFlag(0)
, commVersion(0)
, robotID(0)
, SN(0)
, bandWidth(0)
, imu()
, motorState()
, footForce()
, footForceEst()
, tick(0)
, wirelessRemote()
, reserve(0)
, crc(0)
, eeForceRaw()
, eeForce()
, position()
, velocity()
, velocity_w() {
footForce.assign(0);
footForceEst.assign(0);
wirelessRemote.assign(0);
}
LowState_(const ContainerAllocator& _alloc)
: levelFlag(0)
, commVersion(0)
, robotID(0)
, SN(0)
, bandWidth(0)
, imu(_alloc)
, motorState()
, footForce()
, footForceEst()
, tick(0)
, wirelessRemote()
, reserve(0)
, crc(0)
, eeForceRaw()
, eeForce()
, position(_alloc)
, velocity(_alloc)
, velocity_w(_alloc) {
(void)_alloc;
motorState.assign( ::unitree_legged_msgs::MotorState_<ContainerAllocator> (_alloc));
footForce.assign(0);
footForceEst.assign(0);
wirelessRemote.assign(0);
eeForceRaw.assign( ::unitree_legged_msgs::Cartesian_<ContainerAllocator> (_alloc));
eeForce.assign( ::unitree_legged_msgs::Cartesian_<ContainerAllocator> (_alloc));
}
typedef uint8_t _levelFlag_type;
_levelFlag_type levelFlag;
typedef uint16_t _commVersion_type;
_commVersion_type commVersion;
typedef uint16_t _robotID_type;
_robotID_type robotID;
typedef uint32_t _SN_type;
_SN_type SN;
typedef uint8_t _bandWidth_type;
_bandWidth_type bandWidth;
typedef ::unitree_legged_msgs::IMU_<ContainerAllocator> _imu_type;
_imu_type imu;
typedef boost::array< ::unitree_legged_msgs::MotorState_<ContainerAllocator> , 20> _motorState_type;
_motorState_type motorState;
typedef boost::array<int16_t, 4> _footForce_type;
_footForce_type footForce;
typedef boost::array<int16_t, 4> _footForceEst_type;
_footForceEst_type footForceEst;
typedef uint32_t _tick_type;
_tick_type tick;
typedef boost::array<uint8_t, 40> _wirelessRemote_type;
_wirelessRemote_type wirelessRemote;
typedef uint32_t _reserve_type;
_reserve_type reserve;
typedef uint32_t _crc_type;
_crc_type crc;
typedef boost::array< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> , 4> _eeForceRaw_type;
_eeForceRaw_type eeForceRaw;
typedef boost::array< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> , 4> _eeForce_type;
_eeForce_type eeForce;
typedef ::unitree_legged_msgs::Cartesian_<ContainerAllocator> _position_type;
_position_type position;
typedef ::unitree_legged_msgs::Cartesian_<ContainerAllocator> _velocity_type;
_velocity_type velocity;
typedef ::unitree_legged_msgs::Cartesian_<ContainerAllocator> _velocity_w_type;
_velocity_w_type velocity_w;
typedef boost::shared_ptr< ::unitree_legged_msgs::LowState_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::unitree_legged_msgs::LowState_<ContainerAllocator> const> ConstPtr;
}; // struct LowState_
typedef ::unitree_legged_msgs::LowState_<std::allocator<void> > LowState;
typedef boost::shared_ptr< ::unitree_legged_msgs::LowState > LowStatePtr;
typedef boost::shared_ptr< ::unitree_legged_msgs::LowState const> LowStateConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator>
std::ostream& operator<<(std::ostream& s, const ::unitree_legged_msgs::LowState_<ContainerAllocator> & v)
{
ros::message_operations::Printer< ::unitree_legged_msgs::LowState_<ContainerAllocator> >::stream(s, "", v);
return s;
}
} // namespace unitree_legged_msgs
namespace ros
{
namespace message_traits
{
// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False}
// {'sensor_msgs': ['/opt/ros/kinetic/share/sensor_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/kinetic/share/geometry_msgs/cmake/../msg'], 'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'unitree_legged_msgs': ['/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg']}
// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
template <class ContainerAllocator>
struct IsFixedSize< ::unitree_legged_msgs::LowState_<ContainerAllocator> >
: TrueType
{ };
template <class ContainerAllocator>
struct IsFixedSize< ::unitree_legged_msgs::LowState_<ContainerAllocator> const>
: TrueType
{ };
template <class ContainerAllocator>
struct IsMessage< ::unitree_legged_msgs::LowState_<ContainerAllocator> >
: TrueType
{ };
template <class ContainerAllocator>
struct IsMessage< ::unitree_legged_msgs::LowState_<ContainerAllocator> const>
: TrueType
{ };
template <class ContainerAllocator>
struct HasHeader< ::unitree_legged_msgs::LowState_<ContainerAllocator> >
: FalseType
{ };
template <class ContainerAllocator>
struct HasHeader< ::unitree_legged_msgs::LowState_<ContainerAllocator> const>
: FalseType
{ };
template<class ContainerAllocator>
struct MD5Sum< ::unitree_legged_msgs::LowState_<ContainerAllocator> >
{
static const char* value()
{
return "cef9d4f6b5a89bd6330896affb1bca88";
}
static const char* value(const ::unitree_legged_msgs::LowState_<ContainerAllocator>&) { return value(); }
static const uint64_t static_value1 = 0xcef9d4f6b5a89bd6ULL;
static const uint64_t static_value2 = 0x330896affb1bca88ULL;
};
template<class ContainerAllocator>
struct DataType< ::unitree_legged_msgs::LowState_<ContainerAllocator> >
{
static const char* value()
{
return "unitree_legged_msgs/LowState";
}
static const char* value(const ::unitree_legged_msgs::LowState_<ContainerAllocator>&) { return value(); }
};
template<class ContainerAllocator>
struct Definition< ::unitree_legged_msgs::LowState_<ContainerAllocator> >
{
static const char* value()
{
return "uint8 levelFlag\n\
uint16 commVersion # Old version Aliengo does not have\n\
uint16 robotID # Old version Aliengo does not have\n\
uint32 SN # Old version Aliengo does not have\n\
uint8 bandWidth # Old version Aliengo does not have\n\
IMU imu\n\
MotorState[20] motorState\n\
int16[4] footForce # force sensors # Old version Aliengo is different\n\
int16[4] footForceEst # force sensors # Old version Aliengo does not have\n\
uint32 tick # reference real-time from motion controller (unit: us)\n\
uint8[40] wirelessRemote # wireless commands\n\
uint32 reserve # Old version Aliengo does not have\n\
uint32 crc\n\
\n\
# Old version Aliengo does not have:\n\
Cartesian[4] eeForceRaw\n\
Cartesian[4] eeForce #it's a 1-DOF force infact, but we use 3-DOF here just for visualization \n\
Cartesian position # will delete\n\
Cartesian velocity # will delete\n\
Cartesian velocity_w # will delete\n\
\n\
================================================================================\n\
MSG: unitree_legged_msgs/IMU\n\
float32[4] quaternion\n\
float32[3] gyroscope\n\
float32[3] accelerometer\n\
int8 temperature\n\
================================================================================\n\
MSG: unitree_legged_msgs/MotorState\n\
uint8 mode # motor current mode \n\
float32 q # motor current position（rad）\n\
float32 dq # motor current speed（rad/s）\n\
float32 ddq # motor current speed（rad/s）\n\
float32 tauEst # current estimated output torque（N*m）\n\
float32 q_raw # motor current position（rad）\n\
float32 dq_raw # motor current speed（rad/s）\n\
float32 ddq_raw # motor current speed（rad/s）\n\
int8 temperature # motor temperature（slow conduction of temperature leads to lag）\n\
uint32[2] reserve\n\
================================================================================\n\
MSG: unitree_legged_msgs/Cartesian\n\
float32 x\n\
float32 y\n\
float32 z\n\
";
}
static const char* value(const ::unitree_legged_msgs::LowState_<ContainerAllocator>&) { return value(); }
};
} // namespace message_traits
} // namespace ros
namespace ros
{
namespace serialization
{
template<class ContainerAllocator> struct Serializer< ::unitree_legged_msgs::LowState_<ContainerAllocator> >
{
template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
{
stream.next(m.levelFlag);
stream.next(m.commVersion);
stream.next(m.robotID);
stream.next(m.SN);
stream.next(m.bandWidth);
stream.next(m.imu);
stream.next(m.motorState);
stream.next(m.footForce);
stream.next(m.footForceEst);
stream.next(m.tick);
stream.next(m.wirelessRemote);
stream.next(m.reserve);
stream.next(m.crc);
stream.next(m.eeForceRaw);
stream.next(m.eeForce);
stream.next(m.position);
stream.next(m.velocity);
stream.next(m.velocity_w);
}
ROS_DECLARE_ALLINONE_SERIALIZER
}; // struct LowState_
} // namespace serialization
} // namespace ros
namespace ros
{
namespace message_operations
{
template<class ContainerAllocator>
struct Printer< ::unitree_legged_msgs::LowState_<ContainerAllocator> >
{
template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::unitree_legged_msgs::LowState_<ContainerAllocator>& v)
{
s << indent << "levelFlag: ";
Printer<uint8_t>::stream(s, indent + " ", v.levelFlag);
s << indent << "commVersion: ";
Printer<uint16_t>::stream(s, indent + " ", v.commVersion);
s << indent << "robotID: ";
Printer<uint16_t>::stream(s, indent + " ", v.robotID);
s << indent << "SN: ";
Printer<uint32_t>::stream(s, indent + " ", v.SN);
s << indent << "bandWidth: ";
Printer<uint8_t>::stream(s, indent + " ", v.bandWidth);
s << indent << "imu: ";
s << std::endl;
Printer< ::unitree_legged_msgs::IMU_<ContainerAllocator> >::stream(s, indent + " ", v.imu);
s << indent << "motorState[]" << std::endl;
for (size_t i = 0; i < v.motorState.size(); ++i)
{
s << indent << " motorState[" << i << "]: ";
s << std::endl;
s << indent;
Printer< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >::stream(s, indent + " ", v.motorState[i]);
}
s << indent << "footForce[]" << std::endl;
for (size_t i = 0; i < v.footForce.size(); ++i)
{
s << indent << " footForce[" << i << "]: ";
Printer<int16_t>::stream(s, indent + " ", v.footForce[i]);
}
s << indent << "footForceEst[]" << std::endl;
for (size_t i = 0; i < v.footForceEst.size(); ++i)
{
s << indent << " footForceEst[" << i << "]: ";
Printer<int16_t>::stream(s, indent + " ", v.footForceEst[i]);
}
s << indent << "tick: ";
Printer<uint32_t>::stream(s, indent + " ", v.tick);
s << indent << "wirelessRemote[]" << std::endl;
for (size_t i = 0; i < v.wirelessRemote.size(); ++i)
{
s << indent << " wirelessRemote[" << i << "]: ";
Printer<uint8_t>::stream(s, indent + " ", v.wirelessRemote[i]);
}
s << indent << "reserve: ";
Printer<uint32_t>::stream(s, indent + " ", v.reserve);
s << indent << "crc: ";
Printer<uint32_t>::stream(s, indent + " ", v.crc);
s << indent << "eeForceRaw[]" << std::endl;
for (size_t i = 0; i < v.eeForceRaw.size(); ++i)
{
s << indent << " eeForceRaw[" << i << "]: ";
s << std::endl;
s << indent;
Printer< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >::stream(s, indent + " ", v.eeForceRaw[i]);
}
s << indent << "eeForce[]" << std::endl;
for (size_t i = 0; i < v.eeForce.size(); ++i)
{
s << indent << " eeForce[" << i << "]: ";
s << std::endl;
s << indent;
Printer< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >::stream(s, indent + " ", v.eeForce[i]);
}
s << indent << "position: ";
s << std::endl;
Printer< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >::stream(s, indent + " ", v.position);
s << indent << "velocity: ";
s << std::endl;
Printer< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >::stream(s, indent + " ", v.velocity);
s << indent << "velocity_w: ";
s << std::endl;
Printer< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >::stream(s, indent + " ", v.velocity_w);
}
};
} // namespace message_operations
} // namespace ros
#endif // UNITREE_LEGGED_MSGS_MESSAGE_LOWSTATE_H

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// Generated by gencpp from file unitree_legged_msgs/MotorCmd.msg
// DO NOT EDIT!
#ifndef UNITREE_LEGGED_MSGS_MESSAGE_MOTORCMD_H
#define UNITREE_LEGGED_MSGS_MESSAGE_MOTORCMD_H
#include <string>
#include <vector>
#include <map>
#include <ros/types.h>
#include <ros/serialization.h>
#include <ros/builtin_message_traits.h>
#include <ros/message_operations.h>
namespace unitree_legged_msgs
{
template <class ContainerAllocator>
struct MotorCmd_
{
typedef MotorCmd_<ContainerAllocator> Type;
MotorCmd_()
: mode(0)
, q(0.0)
, dq(0.0)
, tau(0.0)
, Kp(0.0)
, Kd(0.0)
, reserve() {
reserve.assign(0);
}
MotorCmd_(const ContainerAllocator& _alloc)
: mode(0)
, q(0.0)
, dq(0.0)
, tau(0.0)
, Kp(0.0)
, Kd(0.0)
, reserve() {
(void)_alloc;
reserve.assign(0);
}
typedef uint8_t _mode_type;
_mode_type mode;
typedef float _q_type;
_q_type q;
typedef float _dq_type;
_dq_type dq;
typedef float _tau_type;
_tau_type tau;
typedef float _Kp_type;
_Kp_type Kp;
typedef float _Kd_type;
_Kd_type Kd;
typedef boost::array<uint32_t, 3> _reserve_type;
_reserve_type reserve;
typedef boost::shared_ptr< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> const> ConstPtr;
}; // struct MotorCmd_
typedef ::unitree_legged_msgs::MotorCmd_<std::allocator<void> > MotorCmd;
typedef boost::shared_ptr< ::unitree_legged_msgs::MotorCmd > MotorCmdPtr;
typedef boost::shared_ptr< ::unitree_legged_msgs::MotorCmd const> MotorCmdConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator>
std::ostream& operator<<(std::ostream& s, const ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> & v)
{
ros::message_operations::Printer< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >::stream(s, "", v);
return s;
}
} // namespace unitree_legged_msgs
namespace ros
{
namespace message_traits
{
// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False}
// {'sensor_msgs': ['/opt/ros/kinetic/share/sensor_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/kinetic/share/geometry_msgs/cmake/../msg'], 'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'unitree_legged_msgs': ['/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg']}
// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
template <class ContainerAllocator>
struct IsFixedSize< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >
: TrueType
{ };
template <class ContainerAllocator>
struct IsFixedSize< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> const>
: TrueType
{ };
template <class ContainerAllocator>
struct IsMessage< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >
: TrueType
{ };
template <class ContainerAllocator>
struct IsMessage< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> const>
: TrueType
{ };
template <class ContainerAllocator>
struct HasHeader< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >
: FalseType
{ };
template <class ContainerAllocator>
struct HasHeader< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> const>
: FalseType
{ };
template<class ContainerAllocator>
struct MD5Sum< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >
{
static const char* value()
{
return "bbb3b7d91319c3a1b99055f0149ba221";
}
static const char* value(const ::unitree_legged_msgs::MotorCmd_<ContainerAllocator>&) { return value(); }
static const uint64_t static_value1 = 0xbbb3b7d91319c3a1ULL;
static const uint64_t static_value2 = 0xb99055f0149ba221ULL;
};
template<class ContainerAllocator>
struct DataType< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >
{
static const char* value()
{
return "unitree_legged_msgs/MotorCmd";
}
static const char* value(const ::unitree_legged_msgs::MotorCmd_<ContainerAllocator>&) { return value(); }
};
template<class ContainerAllocator>
struct Definition< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >
{
static const char* value()
{
return "uint8 mode # motor target mode\n\
float32 q # motor target position\n\
float32 dq # motor target velocity\n\
float32 tau # motor target torque\n\
float32 Kp # motor spring stiffness coefficient\n\
float32 Kd # motor damper coefficient\n\
uint32[3] reserve # motor target torque\n\
";
}
static const char* value(const ::unitree_legged_msgs::MotorCmd_<ContainerAllocator>&) { return value(); }
};
} // namespace message_traits
} // namespace ros
namespace ros
{
namespace serialization
{
template<class ContainerAllocator> struct Serializer< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >
{
template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
{
stream.next(m.mode);
stream.next(m.q);
stream.next(m.dq);
stream.next(m.tau);
stream.next(m.Kp);
stream.next(m.Kd);
stream.next(m.reserve);
}
ROS_DECLARE_ALLINONE_SERIALIZER
}; // struct MotorCmd_
} // namespace serialization
} // namespace ros
namespace ros
{
namespace message_operations
{
template<class ContainerAllocator>
struct Printer< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >
{
template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::unitree_legged_msgs::MotorCmd_<ContainerAllocator>& v)
{
s << indent << "mode: ";
Printer<uint8_t>::stream(s, indent + " ", v.mode);
s << indent << "q: ";
Printer<float>::stream(s, indent + " ", v.q);
s << indent << "dq: ";
Printer<float>::stream(s, indent + " ", v.dq);
s << indent << "tau: ";
Printer<float>::stream(s, indent + " ", v.tau);
s << indent << "Kp: ";
Printer<float>::stream(s, indent + " ", v.Kp);
s << indent << "Kd: ";
Printer<float>::stream(s, indent + " ", v.Kd);
s << indent << "reserve[]" << std::endl;
for (size_t i = 0; i < v.reserve.size(); ++i)
{
s << indent << " reserve[" << i << "]: ";
Printer<uint32_t>::stream(s, indent + " ", v.reserve[i]);
}
}
};
} // namespace message_operations
} // namespace ros
#endif // UNITREE_LEGGED_MSGS_MESSAGE_MOTORCMD_H

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src/客户端代码/devel/include/unitree_legged_msgs/MotorState.h
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// Generated by gencpp from file unitree_legged_msgs/MotorState.msg
// DO NOT EDIT!
#ifndef UNITREE_LEGGED_MSGS_MESSAGE_MOTORSTATE_H
#define UNITREE_LEGGED_MSGS_MESSAGE_MOTORSTATE_H
#include <string>
#include <vector>
#include <map>
#include <ros/types.h>
#include <ros/serialization.h>
#include <ros/builtin_message_traits.h>
#include <ros/message_operations.h>
namespace unitree_legged_msgs
{
template <class ContainerAllocator>
struct MotorState_
{
typedef MotorState_<ContainerAllocator> Type;
MotorState_()
: mode(0)
, q(0.0)
, dq(0.0)
, ddq(0.0)
, tauEst(0.0)
, q_raw(0.0)
, dq_raw(0.0)
, ddq_raw(0.0)
, temperature(0)
, reserve() {
reserve.assign(0);
}
MotorState_(const ContainerAllocator& _alloc)
: mode(0)
, q(0.0)
, dq(0.0)
, ddq(0.0)
, tauEst(0.0)
, q_raw(0.0)
, dq_raw(0.0)
, ddq_raw(0.0)
, temperature(0)
, reserve() {
(void)_alloc;
reserve.assign(0);
}
typedef uint8_t _mode_type;
_mode_type mode;
typedef float _q_type;
_q_type q;
typedef float _dq_type;
_dq_type dq;
typedef float _ddq_type;
_ddq_type ddq;
typedef float _tauEst_type;
_tauEst_type tauEst;
typedef float _q_raw_type;
_q_raw_type q_raw;
typedef float _dq_raw_type;
_dq_raw_type dq_raw;
typedef float _ddq_raw_type;
_ddq_raw_type ddq_raw;
typedef int8_t _temperature_type;
_temperature_type temperature;
typedef boost::array<uint32_t, 2> _reserve_type;
_reserve_type reserve;
typedef boost::shared_ptr< ::unitree_legged_msgs::MotorState_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::unitree_legged_msgs::MotorState_<ContainerAllocator> const> ConstPtr;
}; // struct MotorState_
typedef ::unitree_legged_msgs::MotorState_<std::allocator<void> > MotorState;
typedef boost::shared_ptr< ::unitree_legged_msgs::MotorState > MotorStatePtr;
typedef boost::shared_ptr< ::unitree_legged_msgs::MotorState const> MotorStateConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator>
std::ostream& operator<<(std::ostream& s, const ::unitree_legged_msgs::MotorState_<ContainerAllocator> & v)
{
ros::message_operations::Printer< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >::stream(s, "", v);
return s;
}
} // namespace unitree_legged_msgs
namespace ros
{
namespace message_traits
{
// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False}
// {'sensor_msgs': ['/opt/ros/kinetic/share/sensor_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/kinetic/share/geometry_msgs/cmake/../msg'], 'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'unitree_legged_msgs': ['/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg']}
// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
template <class ContainerAllocator>
struct IsFixedSize< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
: TrueType
{ };
template <class ContainerAllocator>
struct IsFixedSize< ::unitree_legged_msgs::MotorState_<ContainerAllocator> const>
: TrueType
{ };
template <class ContainerAllocator>
struct IsMessage< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
: TrueType
{ };
template <class ContainerAllocator>
struct IsMessage< ::unitree_legged_msgs::MotorState_<ContainerAllocator> const>
: TrueType
{ };
template <class ContainerAllocator>
struct HasHeader< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
: FalseType
{ };
template <class ContainerAllocator>
struct HasHeader< ::unitree_legged_msgs::MotorState_<ContainerAllocator> const>
: FalseType
{ };
template<class ContainerAllocator>
struct MD5Sum< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
{
static const char* value()
{
return "94c55ee3b7852be2bd437b20ce12a254";
}
static const char* value(const ::unitree_legged_msgs::MotorState_<ContainerAllocator>&) { return value(); }
static const uint64_t static_value1 = 0x94c55ee3b7852be2ULL;
static const uint64_t static_value2 = 0xbd437b20ce12a254ULL;
};
template<class ContainerAllocator>
struct DataType< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
{
static const char* value()
{
return "unitree_legged_msgs/MotorState";
}
static const char* value(const ::unitree_legged_msgs::MotorState_<ContainerAllocator>&) { return value(); }
};
template<class ContainerAllocator>
struct Definition< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
{
static const char* value()
{
return "uint8 mode # motor current mode \n\
float32 q # motor current position（rad）\n\
float32 dq # motor current speed（rad/s）\n\
float32 ddq # motor current speed（rad/s）\n\
float32 tauEst # current estimated output torque（N*m）\n\
float32 q_raw # motor current position（rad）\n\
float32 dq_raw # motor current speed（rad/s）\n\
float32 ddq_raw # motor current speed（rad/s）\n\
int8 temperature # motor temperature（slow conduction of temperature leads to lag）\n\
uint32[2] reserve\n\
";
}
static const char* value(const ::unitree_legged_msgs::MotorState_<ContainerAllocator>&) { return value(); }
};
} // namespace message_traits
} // namespace ros
namespace ros
{
namespace serialization
{
template<class ContainerAllocator> struct Serializer< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
{
template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
{
stream.next(m.mode);
stream.next(m.q);
stream.next(m.dq);
stream.next(m.ddq);
stream.next(m.tauEst);
stream.next(m.q_raw);
stream.next(m.dq_raw);
stream.next(m.ddq_raw);
stream.next(m.temperature);
stream.next(m.reserve);
}
ROS_DECLARE_ALLINONE_SERIALIZER
}; // struct MotorState_
} // namespace serialization
} // namespace ros
namespace ros
{
namespace message_operations
{
template<class ContainerAllocator>
struct Printer< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
{
template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::unitree_legged_msgs::MotorState_<ContainerAllocator>& v)
{
s << indent << "mode: ";
Printer<uint8_t>::stream(s, indent + " ", v.mode);
s << indent << "q: ";
Printer<float>::stream(s, indent + " ", v.q);
s << indent << "dq: ";
Printer<float>::stream(s, indent + " ", v.dq);
s << indent << "ddq: ";
Printer<float>::stream(s, indent + " ", v.ddq);
s << indent << "tauEst: ";
Printer<float>::stream(s, indent + " ", v.tauEst);
s << indent << "q_raw: ";
Printer<float>::stream(s, indent + " ", v.q_raw);
s << indent << "dq_raw: ";
Printer<float>::stream(s, indent + " ", v.dq_raw);
s << indent << "ddq_raw: ";
Printer<float>::stream(s, indent + " ", v.ddq_raw);
s << indent << "temperature: ";
Printer<int8_t>::stream(s, indent + " ", v.temperature);
s << indent << "reserve[]" << std::endl;
for (size_t i = 0; i < v.reserve.size(); ++i)
{
s << indent << " reserve[" << i << "]: ";
Printer<uint32_t>::stream(s, indent + " ", v.reserve[i]);
}
}
};
} // namespace message_operations
} // namespace ros
#endif // UNITREE_LEGGED_MSGS_MESSAGE_MOTORSTATE_H

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prefix=/home/chinhan/Joint_Rescue_development/devel
Name: librviz_tutorial
Description: Description of librviz_tutorial
Version: 0.11.0
Cflags:
Libs: -L${prefix}/lib
Requires:

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Version: 0.0.1
Cflags:
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Requires: roscpp std_msgs message_generation message_runtime

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Version: 0.0.1
Cflags:
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Requires: roscpp std_msgs message_generation message_runtime

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Name: unitree_legged_msgs
Description: Description of unitree_legged_msgs
Version: 0.0.0
Cflags: -I/home/chinhan/Joint_Rescue_development/devel/include
Libs: -L${prefix}/lib
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Description: Description of unitree_ros
Version: 0.0.1
Cflags:
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Requires: roscpp std_msgs message_generation message_runtime

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# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from unitree_legged_msgs/Cartesian.msg. Do not edit."""
import codecs
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct
class Cartesian(genpy.Message):
_md5sum = "cc153912f1453b708d221682bc23d9ac"
_type = "unitree_legged_msgs/Cartesian"
_has_header = False # flag to mark the presence of a Header object
_full_text = """float32 x
float32 y
float32 z"""
__slots__ = ['x','y','z']
_slot_types = ['float32','float32','float32']
def __init__(self, *args, **kwds):
"""
Constructor. Any message fields that are implicitly/explicitly
set to None will be assigned a default value. The recommend
use is keyword arguments as this is more robust to future message
changes. You cannot mix in-order arguments and keyword arguments.
The available fields are:
x,y,z
:param args: complete set of field values, in .msg order
:param kwds: use keyword arguments corresponding to message field names
to set specific fields.
"""
if args or kwds:
super(Cartesian, self).__init__(*args, **kwds)
# message fields cannot be None, assign default values for those that are
if self.x is None:
self.x = 0.
if self.y is None:
self.y = 0.
if self.z is None:
self.z = 0.
else:
self.x = 0.
self.y = 0.
self.z = 0.
def _get_types(self):
"""
internal API method
"""
return self._slot_types
def serialize(self, buff):
"""
serialize message into buffer
:param buff: buffer, ``StringIO``
"""
try:
_x = self
buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z))
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
def deserialize(self, str):
"""
unpack serialized message in str into this message instance
:param str: byte array of serialized message, ``str``
"""
codecs.lookup_error("rosmsg").msg_type = self._type
try:
end = 0
_x = self
start = end
end += 12
(_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end])
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
def serialize_numpy(self, buff, numpy):
"""
serialize message with numpy array types into buffer
:param buff: buffer, ``StringIO``
:param numpy: numpy python module
"""
try:
_x = self
buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z))
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
def deserialize_numpy(self, str, numpy):
"""
unpack serialized message in str into this message instance using numpy for array types
:param str: byte array of serialized message, ``str``
:param numpy: numpy python module
"""
codecs.lookup_error("rosmsg").msg_type = self._type
try:
end = 0
_x = self
start = end
end += 12
(_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end])
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
_struct_I = genpy.struct_I
def _get_struct_I():
global _struct_I
return _struct_I
_struct_3f = None
def _get_struct_3f():
global _struct_3f
if _struct_3f is None:
_struct_3f = struct.Struct("<3f")
return _struct_3f

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# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from unitree_legged_msgs/HighCmd.msg. Do not edit."""
import codecs
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct
import unitree_legged_msgs.msg
class HighCmd(genpy.Message):
_md5sum = "1a655499a3f64905db59ceed65ca774a"
_type = "unitree_legged_msgs/HighCmd"
_has_header = False # flag to mark the presence of a Header object
_full_text = """uint8 levelFlag
uint16 commVersion # Old version Aliengo does not have
uint16 robotID # Old version Aliengo does not have
uint32 SN # Old version Aliengo does not have
uint8 bandWidth # Old version Aliengo does not have
uint8 mode
float32 forwardSpeed
float32 sideSpeed
float32 rotateSpeed
float32 bodyHeight
float32 footRaiseHeight
float32 yaw
float32 pitch
float32 roll
LED[4] led
uint8[40] wirelessRemote
uint8[40] AppRemote # Old version Aliengo does not have
uint32 reserve # Old version Aliengo does not have
int32 crc
================================================================================
MSG: unitree_legged_msgs/LED
uint8 r
uint8 g
uint8 b"""
__slots__ = ['levelFlag','commVersion','robotID','SN','bandWidth','mode','forwardSpeed','sideSpeed','rotateSpeed','bodyHeight','footRaiseHeight','yaw','pitch','roll','led','wirelessRemote','AppRemote','reserve','crc']
_slot_types = ['uint8','uint16','uint16','uint32','uint8','uint8','float32','float32','float32','float32','float32','float32','float32','float32','unitree_legged_msgs/LED[4]','uint8[40]','uint8[40]','uint32','int32']
def __init__(self, *args, **kwds):
"""
Constructor. Any message fields that are implicitly/explicitly
set to None will be assigned a default value. The recommend
use is keyword arguments as this is more robust to future message
changes. You cannot mix in-order arguments and keyword arguments.
The available fields are:
levelFlag,commVersion,robotID,SN,bandWidth,mode,forwardSpeed,sideSpeed,rotateSpeed,bodyHeight,footRaiseHeight,yaw,pitch,roll,led,wirelessRemote,AppRemote,reserve,crc
:param args: complete set of field values, in .msg order
:param kwds: use keyword arguments corresponding to message field names
to set specific fields.
"""
if args or kwds:
super(HighCmd, self).__init__(*args, **kwds)
# message fields cannot be None, assign default values for those that are
if self.levelFlag is None:
self.levelFlag = 0
if self.commVersion is None:
self.commVersion = 0
if self.robotID is None:
self.robotID = 0
if self.SN is None:
self.SN = 0
if self.bandWidth is None:
self.bandWidth = 0
if self.mode is None:
self.mode = 0
if self.forwardSpeed is None:
self.forwardSpeed = 0.
if self.sideSpeed is None:
self.sideSpeed = 0.
if self.rotateSpeed is None:
self.rotateSpeed = 0.
if self.bodyHeight is None:
self.bodyHeight = 0.
if self.footRaiseHeight is None:
self.footRaiseHeight = 0.
if self.yaw is None:
self.yaw = 0.
if self.pitch is None:
self.pitch = 0.
if self.roll is None:
self.roll = 0.
if self.led is None:
self.led = [unitree_legged_msgs.msg.LED() for _ in range(4)]
if self.wirelessRemote is None:
self.wirelessRemote = b'\0'*40
if self.AppRemote is None:
self.AppRemote = b'\0'*40
if self.reserve is None:
self.reserve = 0
if self.crc is None:
self.crc = 0
else:
self.levelFlag = 0
self.commVersion = 0
self.robotID = 0
self.SN = 0
self.bandWidth = 0
self.mode = 0
self.forwardSpeed = 0.
self.sideSpeed = 0.
self.rotateSpeed = 0.
self.bodyHeight = 0.
self.footRaiseHeight = 0.
self.yaw = 0.
self.pitch = 0.
self.roll = 0.
self.led = [unitree_legged_msgs.msg.LED() for _ in range(4)]
self.wirelessRemote = b'\0'*40
self.AppRemote = b'\0'*40
self.reserve = 0
self.crc = 0
def _get_types(self):
"""
internal API method
"""
return self._slot_types
def serialize(self, buff):
"""
serialize message into buffer
:param buff: buffer, ``StringIO``
"""
try:
_x = self
buff.write(_get_struct_B2HI2B8f().pack(_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth, _x.mode, _x.forwardSpeed, _x.sideSpeed, _x.rotateSpeed, _x.bodyHeight, _x.footRaiseHeight, _x.yaw, _x.pitch, _x.roll))
if len(self.led) != 4:
self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.led), 'self.led')))
for val1 in self.led:
_x = val1
buff.write(_get_struct_3B().pack(_x.r, _x.g, _x.b))
_x = self.wirelessRemote
# - if encoded as a list instead, serialize as bytes instead of string
if type(_x) in [list, tuple]:
buff.write(_get_struct_40B().pack(*_x))
else:
buff.write(_get_struct_40s().pack(_x))
_x = self.AppRemote
# - if encoded as a list instead, serialize as bytes instead of string
if type(_x) in [list, tuple]:
buff.write(_get_struct_40B().pack(*_x))
else:
buff.write(_get_struct_40s().pack(_x))
_x = self
buff.write(_get_struct_Ii().pack(_x.reserve, _x.crc))
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
def deserialize(self, str):
"""
unpack serialized message in str into this message instance
:param str: byte array of serialized message, ``str``
"""
codecs.lookup_error("rosmsg").msg_type = self._type
try:
if self.led is None:
self.led = None
end = 0
_x = self
start = end
end += 43
(_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth, _x.mode, _x.forwardSpeed, _x.sideSpeed, _x.rotateSpeed, _x.bodyHeight, _x.footRaiseHeight, _x.yaw, _x.pitch, _x.roll,) = _get_struct_B2HI2B8f().unpack(str[start:end])
self.led = []
for i in range(0, 4):
val1 = unitree_legged_msgs.msg.LED()
_x = val1
start = end
end += 3
(_x.r, _x.g, _x.b,) = _get_struct_3B().unpack(str[start:end])
self.led.append(val1)
start = end
end += 40
self.wirelessRemote = str[start:end]
start = end
end += 40
self.AppRemote = str[start:end]
_x = self
start = end
end += 8
(_x.reserve, _x.crc,) = _get_struct_Ii().unpack(str[start:end])
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
def serialize_numpy(self, buff, numpy):
"""
serialize message with numpy array types into buffer
:param buff: buffer, ``StringIO``
:param numpy: numpy python module
"""
try:
_x = self
buff.write(_get_struct_B2HI2B8f().pack(_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth, _x.mode, _x.forwardSpeed, _x.sideSpeed, _x.rotateSpeed, _x.bodyHeight, _x.footRaiseHeight, _x.yaw, _x.pitch, _x.roll))
if len(self.led) != 4:
self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.led), 'self.led')))
for val1 in self.led:
_x = val1
buff.write(_get_struct_3B().pack(_x.r, _x.g, _x.b))
_x = self.wirelessRemote
# - if encoded as a list instead, serialize as bytes instead of string
if type(_x) in [list, tuple]:
buff.write(_get_struct_40B().pack(*_x))
else:
buff.write(_get_struct_40s().pack(_x))
_x = self.AppRemote
# - if encoded as a list instead, serialize as bytes instead of string
if type(_x) in [list, tuple]:
buff.write(_get_struct_40B().pack(*_x))
else:
buff.write(_get_struct_40s().pack(_x))
_x = self
buff.write(_get_struct_Ii().pack(_x.reserve, _x.crc))
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
def deserialize_numpy(self, str, numpy):
"""
unpack serialized message in str into this message instance using numpy for array types
:param str: byte array of serialized message, ``str``
:param numpy: numpy python module
"""
codecs.lookup_error("rosmsg").msg_type = self._type
try:
if self.led is None:
self.led = None
end = 0
_x = self
start = end
end += 43
(_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth, _x.mode, _x.forwardSpeed, _x.sideSpeed, _x.rotateSpeed, _x.bodyHeight, _x.footRaiseHeight, _x.yaw, _x.pitch, _x.roll,) = _get_struct_B2HI2B8f().unpack(str[start:end])
self.led = []
for i in range(0, 4):
val1 = unitree_legged_msgs.msg.LED()
_x = val1
start = end
end += 3
(_x.r, _x.g, _x.b,) = _get_struct_3B().unpack(str[start:end])
self.led.append(val1)
start = end
end += 40
self.wirelessRemote = str[start:end]
start = end
end += 40
self.AppRemote = str[start:end]
_x = self
start = end
end += 8
(_x.reserve, _x.crc,) = _get_struct_Ii().unpack(str[start:end])
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
_struct_I = genpy.struct_I
def _get_struct_I():
global _struct_I
return _struct_I
_struct_3B = None
def _get_struct_3B():
global _struct_3B
if _struct_3B is None:
_struct_3B = struct.Struct("<3B")
return _struct_3B
_struct_40B = None
def _get_struct_40B():
global _struct_40B
if _struct_40B is None:
_struct_40B = struct.Struct("<40B")
return _struct_40B
_struct_40s = None
def _get_struct_40s():
global _struct_40s
if _struct_40s is None:
_struct_40s = struct.Struct("<40s")
return _struct_40s
_struct_B2HI2B8f = None
def _get_struct_B2HI2B8f():
global _struct_B2HI2B8f
if _struct_B2HI2B8f is None:
_struct_B2HI2B8f = struct.Struct("<B2HI2B8f")
return _struct_B2HI2B8f
_struct_Ii = None
def _get_struct_Ii():
global _struct_Ii
if _struct_Ii is None:
_struct_Ii = struct.Struct("<Ii")
return _struct_Ii

460
src/客户端代码/devel/lib/python2.7/dist-packages/unitree_legged_msgs/msg/_HighState.py
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# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from unitree_legged_msgs/HighState.msg. Do not edit."""
import codecs
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct
import unitree_legged_msgs.msg
class HighState(genpy.Message):
_md5sum = "a12e8b22df896c82203810ec6d521dad"
_type = "unitree_legged_msgs/HighState"
_has_header = False # flag to mark the presence of a Header object
_full_text = """uint8 levelFlag
uint16 commVersion # Old version Aliengo does not have
uint16 robotID # Old version Aliengo does not have
uint32 SN # Old version Aliengo does not have
uint8 bandWidth # Old version Aliengo does not have
uint8 mode
IMU imu
float32 forwardSpeed
float32 sideSpeed
float32 rotateSpeed
float32 bodyHeight
float32 updownSpeed
float32 forwardPosition # (will be float type next version) # Old version Aliengo is different
float32 sidePosition # (will be float type next version) # Old version Aliengo is different
Cartesian[4] footPosition2Body
Cartesian[4] footSpeed2Body
int16[4] footForce # Old version Aliengo is different
int16[4] footForceEst # Old version Aliengo does not have
uint32 tick
uint8[40] wirelessRemote
uint32 reserve # Old version Aliengo does not have
uint32 crc
# Under are not defined in SDK yet. # Old version Aliengo does not have
Cartesian[4] eeForce # It's a 1-DOF force in real robot, but 3-DOF is better for visualization.
float32[12] jointP # for visualization
================================================================================
MSG: unitree_legged_msgs/IMU
float32[4] quaternion
float32[3] gyroscope
float32[3] accelerometer
int8 temperature
================================================================================
MSG: unitree_legged_msgs/Cartesian
float32 x
float32 y
float32 z"""
__slots__ = ['levelFlag','commVersion','robotID','SN','bandWidth','mode','imu','forwardSpeed','sideSpeed','rotateSpeed','bodyHeight','updownSpeed','forwardPosition','sidePosition','footPosition2Body','footSpeed2Body','footForce','footForceEst','tick','wirelessRemote','reserve','crc','eeForce','jointP']
_slot_types = ['uint8','uint16','uint16','uint32','uint8','uint8','unitree_legged_msgs/IMU','float32','float32','float32','float32','float32','float32','float32','unitree_legged_msgs/Cartesian[4]','unitree_legged_msgs/Cartesian[4]','int16[4]','int16[4]','uint32','uint8[40]','uint32','uint32','unitree_legged_msgs/Cartesian[4]','float32[12]']
def __init__(self, *args, **kwds):
"""
Constructor. Any message fields that are implicitly/explicitly
set to None will be assigned a default value. The recommend
use is keyword arguments as this is more robust to future message
changes. You cannot mix in-order arguments and keyword arguments.
The available fields are:
levelFlag,commVersion,robotID,SN,bandWidth,mode,imu,forwardSpeed,sideSpeed,rotateSpeed,bodyHeight,updownSpeed,forwardPosition,sidePosition,footPosition2Body,footSpeed2Body,footForce,footForceEst,tick,wirelessRemote,reserve,crc,eeForce,jointP
:param args: complete set of field values, in .msg order
:param kwds: use keyword arguments corresponding to message field names
to set specific fields.
"""
if args or kwds:
super(HighState, self).__init__(*args, **kwds)
# message fields cannot be None, assign default values for those that are
if self.levelFlag is None:
self.levelFlag = 0
if self.commVersion is None:
self.commVersion = 0
if self.robotID is None:
self.robotID = 0
if self.SN is None:
self.SN = 0
if self.bandWidth is None:
self.bandWidth = 0
if self.mode is None:
self.mode = 0
if self.imu is None:
self.imu = unitree_legged_msgs.msg.IMU()
if self.forwardSpeed is None:
self.forwardSpeed = 0.
if self.sideSpeed is None:
self.sideSpeed = 0.
if self.rotateSpeed is None:
self.rotateSpeed = 0.
if self.bodyHeight is None:
self.bodyHeight = 0.
if self.updownSpeed is None:
self.updownSpeed = 0.
if self.forwardPosition is None:
self.forwardPosition = 0.
if self.sidePosition is None:
self.sidePosition = 0.
if self.footPosition2Body is None:
self.footPosition2Body = [unitree_legged_msgs.msg.Cartesian() for _ in range(4)]
if self.footSpeed2Body is None:
self.footSpeed2Body = [unitree_legged_msgs.msg.Cartesian() for _ in range(4)]
if self.footForce is None:
self.footForce = [0] * 4
if self.footForceEst is None:
self.footForceEst = [0] * 4
if self.tick is None:
self.tick = 0
if self.wirelessRemote is None:
self.wirelessRemote = b'\0'*40
if self.reserve is None:
self.reserve = 0
if self.crc is None:
self.crc = 0
if self.eeForce is None:
self.eeForce = [unitree_legged_msgs.msg.Cartesian() for _ in range(4)]
if self.jointP is None:
self.jointP = [0.] * 12
else:
self.levelFlag = 0
self.commVersion = 0
self.robotID = 0
self.SN = 0
self.bandWidth = 0
self.mode = 0
self.imu = unitree_legged_msgs.msg.IMU()
self.forwardSpeed = 0.
self.sideSpeed = 0.
self.rotateSpeed = 0.
self.bodyHeight = 0.
self.updownSpeed = 0.
self.forwardPosition = 0.
self.sidePosition = 0.
self.footPosition2Body = [unitree_legged_msgs.msg.Cartesian() for _ in range(4)]
self.footSpeed2Body = [unitree_legged_msgs.msg.Cartesian() for _ in range(4)]
self.footForce = [0] * 4
self.footForceEst = [0] * 4
self.tick = 0
self.wirelessRemote = b'\0'*40
self.reserve = 0
self.crc = 0
self.eeForce = [unitree_legged_msgs.msg.Cartesian() for _ in range(4)]
self.jointP = [0.] * 12
def _get_types(self):
"""
internal API method
"""
return self._slot_types
def serialize(self, buff):
"""
serialize message into buffer
:param buff: buffer, ``StringIO``
"""
try:
_x = self
buff.write(_get_struct_B2HI2B().pack(_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth, _x.mode))
buff.write(_get_struct_4f().pack(*self.imu.quaternion))
buff.write(_get_struct_3f().pack(*self.imu.gyroscope))
buff.write(_get_struct_3f().pack(*self.imu.accelerometer))
_x = self
buff.write(_get_struct_b7f().pack(_x.imu.temperature, _x.forwardSpeed, _x.sideSpeed, _x.rotateSpeed, _x.bodyHeight, _x.updownSpeed, _x.forwardPosition, _x.sidePosition))
if len(self.footPosition2Body) != 4:
self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.footPosition2Body), 'self.footPosition2Body')))
for val1 in self.footPosition2Body:
_x = val1
buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z))
if len(self.footSpeed2Body) != 4:
self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.footSpeed2Body), 'self.footSpeed2Body')))
for val1 in self.footSpeed2Body:
_x = val1
buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z))
buff.write(_get_struct_4h().pack(*self.footForce))
buff.write(_get_struct_4h().pack(*self.footForceEst))
_x = self.tick
buff.write(_get_struct_I().pack(_x))
_x = self.wirelessRemote
# - if encoded as a list instead, serialize as bytes instead of string
if type(_x) in [list, tuple]:
buff.write(_get_struct_40B().pack(*_x))
else:
buff.write(_get_struct_40s().pack(_x))
_x = self
buff.write(_get_struct_2I().pack(_x.reserve, _x.crc))
if len(self.eeForce) != 4:
self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.eeForce), 'self.eeForce')))
for val1 in self.eeForce:
_x = val1
buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z))
buff.write(_get_struct_12f().pack(*self.jointP))
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
def deserialize(self, str):
"""
unpack serialized message in str into this message instance
:param str: byte array of serialized message, ``str``
"""
codecs.lookup_error("rosmsg").msg_type = self._type
try:
if self.imu is None:
self.imu = unitree_legged_msgs.msg.IMU()
if self.footPosition2Body is None:
self.footPosition2Body = None
if self.footSpeed2Body is None:
self.footSpeed2Body = None
if self.eeForce is None:
self.eeForce = None
end = 0
_x = self
start = end
end += 11
(_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth, _x.mode,) = _get_struct_B2HI2B().unpack(str[start:end])
start = end
end += 16
self.imu.quaternion = _get_struct_4f().unpack(str[start:end])
start = end
end += 12
self.imu.gyroscope = _get_struct_3f().unpack(str[start:end])
start = end
end += 12
self.imu.accelerometer = _get_struct_3f().unpack(str[start:end])
_x = self
start = end
end += 29
(_x.imu.temperature, _x.forwardSpeed, _x.sideSpeed, _x.rotateSpeed, _x.bodyHeight, _x.updownSpeed, _x.forwardPosition, _x.sidePosition,) = _get_struct_b7f().unpack(str[start:end])
self.footPosition2Body = []
for i in range(0, 4):
val1 = unitree_legged_msgs.msg.Cartesian()
_x = val1
start = end
end += 12
(_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end])
self.footPosition2Body.append(val1)
self.footSpeed2Body = []
for i in range(0, 4):
val1 = unitree_legged_msgs.msg.Cartesian()
_x = val1
start = end
end += 12
(_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end])
self.footSpeed2Body.append(val1)
start = end
end += 8
self.footForce = _get_struct_4h().unpack(str[start:end])
start = end
end += 8
self.footForceEst = _get_struct_4h().unpack(str[start:end])
start = end
end += 4
(self.tick,) = _get_struct_I().unpack(str[start:end])
start = end
end += 40
self.wirelessRemote = str[start:end]
_x = self
start = end
end += 8
(_x.reserve, _x.crc,) = _get_struct_2I().unpack(str[start:end])
self.eeForce = []
for i in range(0, 4):
val1 = unitree_legged_msgs.msg.Cartesian()
_x = val1
start = end
end += 12
(_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end])
self.eeForce.append(val1)
start = end
end += 48
self.jointP = _get_struct_12f().unpack(str[start:end])
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
def serialize_numpy(self, buff, numpy):
"""
serialize message with numpy array types into buffer
:param buff: buffer, ``StringIO``
:param numpy: numpy python module
"""
try:
_x = self
buff.write(_get_struct_B2HI2B().pack(_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth, _x.mode))
buff.write(self.imu.quaternion.tostring())
buff.write(self.imu.gyroscope.tostring())
buff.write(self.imu.accelerometer.tostring())
_x = self
buff.write(_get_struct_b7f().pack(_x.imu.temperature, _x.forwardSpeed, _x.sideSpeed, _x.rotateSpeed, _x.bodyHeight, _x.updownSpeed, _x.forwardPosition, _x.sidePosition))
if len(self.footPosition2Body) != 4:
self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.footPosition2Body), 'self.footPosition2Body')))
for val1 in self.footPosition2Body:
_x = val1
buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z))
if len(self.footSpeed2Body) != 4:
self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.footSpeed2Body), 'self.footSpeed2Body')))
for val1 in self.footSpeed2Body:
_x = val1
buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z))
buff.write(self.footForce.tostring())
buff.write(self.footForceEst.tostring())
_x = self.tick
buff.write(_get_struct_I().pack(_x))
_x = self.wirelessRemote
# - if encoded as a list instead, serialize as bytes instead of string
if type(_x) in [list, tuple]:
buff.write(_get_struct_40B().pack(*_x))
else:
buff.write(_get_struct_40s().pack(_x))
_x = self
buff.write(_get_struct_2I().pack(_x.reserve, _x.crc))
if len(self.eeForce) != 4:
self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.eeForce), 'self.eeForce')))
for val1 in self.eeForce:
_x = val1
buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z))
buff.write(self.jointP.tostring())
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
def deserialize_numpy(self, str, numpy):
"""
unpack serialized message in str into this message instance using numpy for array types
:param str: byte array of serialized message, ``str``
:param numpy: numpy python module
"""
codecs.lookup_error("rosmsg").msg_type = self._type
try:
if self.imu is None:
self.imu = unitree_legged_msgs.msg.IMU()
if self.footPosition2Body is None:
self.footPosition2Body = None
if self.footSpeed2Body is None:
self.footSpeed2Body = None
if self.eeForce is None:
self.eeForce = None
end = 0
_x = self
start = end
end += 11
(_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth, _x.mode,) = _get_struct_B2HI2B().unpack(str[start:end])
start = end
end += 16
self.imu.quaternion = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=4)
start = end
end += 12
self.imu.gyroscope = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=3)
start = end
end += 12
self.imu.accelerometer = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=3)
_x = self
start = end
end += 29
(_x.imu.temperature, _x.forwardSpeed, _x.sideSpeed, _x.rotateSpeed, _x.bodyHeight, _x.updownSpeed, _x.forwardPosition, _x.sidePosition,) = _get_struct_b7f().unpack(str[start:end])
self.footPosition2Body = []
for i in range(0, 4):
val1 = unitree_legged_msgs.msg.Cartesian()
_x = val1
start = end
end += 12
(_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end])
self.footPosition2Body.append(val1)
self.footSpeed2Body = []
for i in range(0, 4):
val1 = unitree_legged_msgs.msg.Cartesian()
_x = val1
start = end
end += 12
(_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end])
self.footSpeed2Body.append(val1)
start = end
end += 8
self.footForce = numpy.frombuffer(str[start:end], dtype=numpy.int16, count=4)
start = end
end += 8
self.footForceEst = numpy.frombuffer(str[start:end], dtype=numpy.int16, count=4)
start = end
end += 4
(self.tick,) = _get_struct_I().unpack(str[start:end])
start = end
end += 40
self.wirelessRemote = str[start:end]
_x = self
start = end
end += 8
(_x.reserve, _x.crc,) = _get_struct_2I().unpack(str[start:end])
self.eeForce = []
for i in range(0, 4):
val1 = unitree_legged_msgs.msg.Cartesian()
_x = val1
start = end
end += 12
(_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end])
self.eeForce.append(val1)
start = end
end += 48
self.jointP = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=12)
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
_struct_I = genpy.struct_I
def _get_struct_I():
global _struct_I
return _struct_I
_struct_12f = None
def _get_struct_12f():
global _struct_12f
if _struct_12f is None:
_struct_12f = struct.Struct("<12f")
return _struct_12f
_struct_2I = None
def _get_struct_2I():
global _struct_2I
if _struct_2I is None:
_struct_2I = struct.Struct("<2I")
return _struct_2I
_struct_3f = None
def _get_struct_3f():
global _struct_3f
if _struct_3f is None:
_struct_3f = struct.Struct("<3f")
return _struct_3f
_struct_40B = None
def _get_struct_40B():
global _struct_40B
if _struct_40B is None:
_struct_40B = struct.Struct("<40B")
return _struct_40B
_struct_40s = None
def _get_struct_40s():
global _struct_40s
if _struct_40s is None:
_struct_40s = struct.Struct("<40s")
return _struct_40s
_struct_4f = None
def _get_struct_4f():
global _struct_4f
if _struct_4f is None:
_struct_4f = struct.Struct("<4f")
return _struct_4f
_struct_4h = None
def _get_struct_4h():
global _struct_4h
if _struct_4h is None:
_struct_4h = struct.Struct("<4h")
return _struct_4h
_struct_B2HI2B = None
def _get_struct_B2HI2B():
global _struct_B2HI2B
if _struct_B2HI2B is None:
_struct_B2HI2B = struct.Struct("<B2HI2B")
return _struct_B2HI2B
_struct_b7f = None
def _get_struct_b7f():
global _struct_b7f
if _struct_b7f is None:
_struct_b7f = struct.Struct("<b7f")
return _struct_b7f

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src/客户端代码/devel/lib/python2.7/dist-packages/unitree_legged_msgs/msg/_IMU.py
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# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from unitree_legged_msgs/IMU.msg. Do not edit."""
import codecs
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct
class IMU(genpy.Message):
_md5sum = "dd4bb4e42aa2f15aa1fb1b6a3c3752cb"
_type = "unitree_legged_msgs/IMU"
_has_header = False # flag to mark the presence of a Header object
_full_text = """float32[4] quaternion
float32[3] gyroscope
float32[3] accelerometer
int8 temperature"""
__slots__ = ['quaternion','gyroscope','accelerometer','temperature']
_slot_types = ['float32[4]','float32[3]','float32[3]','int8']
def __init__(self, *args, **kwds):
"""
Constructor. Any message fields that are implicitly/explicitly
set to None will be assigned a default value. The recommend
use is keyword arguments as this is more robust to future message
changes. You cannot mix in-order arguments and keyword arguments.
The available fields are:
quaternion,gyroscope,accelerometer,temperature
:param args: complete set of field values, in .msg order
:param kwds: use keyword arguments corresponding to message field names
to set specific fields.
"""
if args or kwds:
super(IMU, self).__init__(*args, **kwds)
# message fields cannot be None, assign default values for those that are
if self.quaternion is None:
self.quaternion = [0.] * 4
if self.gyroscope is None:
self.gyroscope = [0.] * 3
if self.accelerometer is None:
self.accelerometer = [0.] * 3
if self.temperature is None:
self.temperature = 0
else:
self.quaternion = [0.] * 4
self.gyroscope = [0.] * 3
self.accelerometer = [0.] * 3
self.temperature = 0
def _get_types(self):
"""
internal API method
"""
return self._slot_types
def serialize(self, buff):
"""
serialize message into buffer
:param buff: buffer, ``StringIO``
"""
try:
buff.write(_get_struct_4f().pack(*self.quaternion))
buff.write(_get_struct_3f().pack(*self.gyroscope))
buff.write(_get_struct_3f().pack(*self.accelerometer))
_x = self.temperature
buff.write(_get_struct_b().pack(_x))
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
def deserialize(self, str):
"""
unpack serialized message in str into this message instance
:param str: byte array of serialized message, ``str``
"""
codecs.lookup_error("rosmsg").msg_type = self._type
try:
end = 0
start = end
end += 16
self.quaternion = _get_struct_4f().unpack(str[start:end])
start = end
end += 12
self.gyroscope = _get_struct_3f().unpack(str[start:end])
start = end
end += 12
self.accelerometer = _get_struct_3f().unpack(str[start:end])
start = end
end += 1
(self.temperature,) = _get_struct_b().unpack(str[start:end])
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
def serialize_numpy(self, buff, numpy):
"""
serialize message with numpy array types into buffer
:param buff: buffer, ``StringIO``
:param numpy: numpy python module
"""
try:
buff.write(self.quaternion.tostring())
buff.write(self.gyroscope.tostring())
buff.write(self.accelerometer.tostring())
_x = self.temperature
buff.write(_get_struct_b().pack(_x))
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
def deserialize_numpy(self, str, numpy):
"""
unpack serialized message in str into this message instance using numpy for array types
:param str: byte array of serialized message, ``str``
:param numpy: numpy python module
"""
codecs.lookup_error("rosmsg").msg_type = self._type
try:
end = 0
start = end
end += 16
self.quaternion = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=4)
start = end
end += 12
self.gyroscope = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=3)
start = end
end += 12
self.accelerometer = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=3)
start = end
end += 1
(self.temperature,) = _get_struct_b().unpack(str[start:end])
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
_struct_I = genpy.struct_I
def _get_struct_I():
global _struct_I
return _struct_I
_struct_3f = None
def _get_struct_3f():
global _struct_3f
if _struct_3f is None:
_struct_3f = struct.Struct("<3f")
return _struct_3f
_struct_4f = None
def _get_struct_4f():
global _struct_4f
if _struct_4f is None:
_struct_4f = struct.Struct("<4f")
return _struct_4f
_struct_b = None
def _get_struct_b():
global _struct_b
if _struct_b is None:
_struct_b = struct.Struct("<b")
return _struct_b

120
src/客户端代码/devel/lib/python2.7/dist-packages/unitree_legged_msgs/msg/_LED.py
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# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from unitree_legged_msgs/LED.msg. Do not edit."""
import codecs
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct
class LED(genpy.Message):
_md5sum = "353891e354491c51aabe32df673fb446"
_type = "unitree_legged_msgs/LED"
_has_header = False # flag to mark the presence of a Header object
_full_text = """uint8 r
uint8 g
uint8 b"""
__slots__ = ['r','g','b']
_slot_types = ['uint8','uint8','uint8']
def __init__(self, *args, **kwds):
"""
Constructor. Any message fields that are implicitly/explicitly
set to None will be assigned a default value. The recommend
use is keyword arguments as this is more robust to future message
changes. You cannot mix in-order arguments and keyword arguments.
The available fields are:
r,g,b
:param args: complete set of field values, in .msg order
:param kwds: use keyword arguments corresponding to message field names
to set specific fields.
"""
if args or kwds:
super(LED, self).__init__(*args, **kwds)
# message fields cannot be None, assign default values for those that are
if self.r is None:
self.r = 0
if self.g is None:
self.g = 0
if self.b is None:
self.b = 0
else:
self.r = 0
self.g = 0
self.b = 0
def _get_types(self):
"""
internal API method
"""
return self._slot_types
def serialize(self, buff):
"""
serialize message into buffer
:param buff: buffer, ``StringIO``
"""
try:
_x = self
buff.write(_get_struct_3B().pack(_x.r, _x.g, _x.b))
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
def deserialize(self, str):
"""
unpack serialized message in str into this message instance
:param str: byte array of serialized message, ``str``
"""
codecs.lookup_error("rosmsg").msg_type = self._type
try:
end = 0
_x = self
start = end
end += 3
(_x.r, _x.g, _x.b,) = _get_struct_3B().unpack(str[start:end])
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
def serialize_numpy(self, buff, numpy):
"""
serialize message with numpy array types into buffer
:param buff: buffer, ``StringIO``
:param numpy: numpy python module
"""
try:
_x = self
buff.write(_get_struct_3B().pack(_x.r, _x.g, _x.b))
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
def deserialize_numpy(self, str, numpy):
"""
unpack serialized message in str into this message instance using numpy for array types
:param str: byte array of serialized message, ``str``
:param numpy: numpy python module
"""
codecs.lookup_error("rosmsg").msg_type = self._type
try:
end = 0
_x = self
start = end
end += 3
(_x.r, _x.g, _x.b,) = _get_struct_3B().unpack(str[start:end])
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
_struct_I = genpy.struct_I
def _get_struct_I():
global _struct_I
return _struct_I
_struct_3B = None
def _get_struct_3B():
global _struct_3B
if _struct_3B is None:
_struct_3B = struct.Struct("<3B")
return _struct_3B

343
src/客户端代码/devel/lib/python2.7/dist-packages/unitree_legged_msgs/msg/_LowCmd.py
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# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from unitree_legged_msgs/LowCmd.msg. Do not edit."""
import codecs
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct
import unitree_legged_msgs.msg
class LowCmd(genpy.Message):
_md5sum = "357432b2562edd0a8e89b9c9f5fc4821"
_type = "unitree_legged_msgs/LowCmd"
_has_header = False # flag to mark the presence of a Header object
_full_text = """uint8 levelFlag
uint16 commVersion # Old version Aliengo does not have
uint16 robotID # Old version Aliengo does not have
uint32 SN # Old version Aliengo does not have
uint8 bandWidth # Old version Aliengo does not have
MotorCmd[20] motorCmd
LED[4] led
uint8[40] wirelessRemote
uint32 reserve # Old version Aliengo does not have
uint32 crc
Cartesian[4] ff # will delete # Old version Aliengo does not have
================================================================================
MSG: unitree_legged_msgs/MotorCmd
uint8 mode # motor target mode
float32 q # motor target position
float32 dq # motor target velocity
float32 tau # motor target torque
float32 Kp # motor spring stiffness coefficient
float32 Kd # motor damper coefficient
uint32[3] reserve # motor target torque
================================================================================
MSG: unitree_legged_msgs/LED
uint8 r
uint8 g
uint8 b
================================================================================
MSG: unitree_legged_msgs/Cartesian
float32 x
float32 y
float32 z"""
__slots__ = ['levelFlag','commVersion','robotID','SN','bandWidth','motorCmd','led','wirelessRemote','reserve','crc','ff']
_slot_types = ['uint8','uint16','uint16','uint32','uint8','unitree_legged_msgs/MotorCmd[20]','unitree_legged_msgs/LED[4]','uint8[40]','uint32','uint32','unitree_legged_msgs/Cartesian[4]']
def __init__(self, *args, **kwds):
"""
Constructor. Any message fields that are implicitly/explicitly
set to None will be assigned a default value. The recommend
use is keyword arguments as this is more robust to future message
changes. You cannot mix in-order arguments and keyword arguments.
The available fields are:
levelFlag,commVersion,robotID,SN,bandWidth,motorCmd,led,wirelessRemote,reserve,crc,ff
:param args: complete set of field values, in .msg order
:param kwds: use keyword arguments corresponding to message field names
to set specific fields.
"""
if args or kwds:
super(LowCmd, self).__init__(*args, **kwds)
# message fields cannot be None, assign default values for those that are
if self.levelFlag is None:
self.levelFlag = 0
if self.commVersion is None:
self.commVersion = 0
if self.robotID is None:
self.robotID = 0
if self.SN is None:
self.SN = 0
if self.bandWidth is None:
self.bandWidth = 0
if self.motorCmd is None:
self.motorCmd = [unitree_legged_msgs.msg.MotorCmd() for _ in range(20)]
if self.led is None:
self.led = [unitree_legged_msgs.msg.LED() for _ in range(4)]
if self.wirelessRemote is None:
self.wirelessRemote = b'\0'*40
if self.reserve is None:
self.reserve = 0
if self.crc is None:
self.crc = 0
if self.ff is None:
self.ff = [unitree_legged_msgs.msg.Cartesian() for _ in range(4)]
else:
self.levelFlag = 0
self.commVersion = 0
self.robotID = 0
self.SN = 0
self.bandWidth = 0
self.motorCmd = [unitree_legged_msgs.msg.MotorCmd() for _ in range(20)]
self.led = [unitree_legged_msgs.msg.LED() for _ in range(4)]
self.wirelessRemote = b'\0'*40
self.reserve = 0
self.crc = 0
self.ff = [unitree_legged_msgs.msg.Cartesian() for _ in range(4)]
def _get_types(self):
"""
internal API method
"""
return self._slot_types
def serialize(self, buff):
"""
serialize message into buffer
:param buff: buffer, ``StringIO``
"""
try:
_x = self
buff.write(_get_struct_B2HIB().pack(_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth))
if len(self.motorCmd) != 20:
self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (20, len(self.motorCmd), 'self.motorCmd')))
for val1 in self.motorCmd:
_x = val1
buff.write(_get_struct_B5f().pack(_x.mode, _x.q, _x.dq, _x.tau, _x.Kp, _x.Kd))
buff.write(_get_struct_3I().pack(*val1.reserve))
if len(self.led) != 4:
self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.led), 'self.led')))
for val1 in self.led:
_x = val1
buff.write(_get_struct_3B().pack(_x.r, _x.g, _x.b))
_x = self.wirelessRemote
# - if encoded as a list instead, serialize as bytes instead of string
if type(_x) in [list, tuple]:
buff.write(_get_struct_40B().pack(*_x))
else:
buff.write(_get_struct_40s().pack(_x))
_x = self
buff.write(_get_struct_2I().pack(_x.reserve, _x.crc))
if len(self.ff) != 4:
self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.ff), 'self.ff')))
for val1 in self.ff:
_x = val1
buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z))
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
def deserialize(self, str):
"""
unpack serialized message in str into this message instance
:param str: byte array of serialized message, ``str``
"""
codecs.lookup_error("rosmsg").msg_type = self._type
try:
if self.motorCmd is None:
self.motorCmd = None
if self.led is None:
self.led = None
if self.ff is None:
self.ff = None
end = 0
_x = self
start = end
end += 10
(_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth,) = _get_struct_B2HIB().unpack(str[start:end])
self.motorCmd = []
for i in range(0, 20):
val1 = unitree_legged_msgs.msg.MotorCmd()
_x = val1
start = end
end += 21
(_x.mode, _x.q, _x.dq, _x.tau, _x.Kp, _x.Kd,) = _get_struct_B5f().unpack(str[start:end])
start = end
end += 12
val1.reserve = _get_struct_3I().unpack(str[start:end])
self.motorCmd.append(val1)
self.led = []
for i in range(0, 4):
val1 = unitree_legged_msgs.msg.LED()
_x = val1
start = end
end += 3
(_x.r, _x.g, _x.b,) = _get_struct_3B().unpack(str[start:end])
self.led.append(val1)
start = end
end += 40
self.wirelessRemote = str[start:end]
_x = self
start = end
end += 8
(_x.reserve, _x.crc,) = _get_struct_2I().unpack(str[start:end])
self.ff = []
for i in range(0, 4):
val1 = unitree_legged_msgs.msg.Cartesian()
_x = val1
start = end
end += 12
(_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end])
self.ff.append(val1)
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
def serialize_numpy(self, buff, numpy):
"""
serialize message with numpy array types into buffer
:param buff: buffer, ``StringIO``
:param numpy: numpy python module
"""
try:
_x = self
buff.write(_get_struct_B2HIB().pack(_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth))
if len(self.motorCmd) != 20:
self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (20, len(self.motorCmd), 'self.motorCmd')))
for val1 in self.motorCmd:
_x = val1
buff.write(_get_struct_B5f().pack(_x.mode, _x.q, _x.dq, _x.tau, _x.Kp, _x.Kd))
buff.write(val1.reserve.tostring())
if len(self.led) != 4:
self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.led), 'self.led')))
for val1 in self.led:
_x = val1
buff.write(_get_struct_3B().pack(_x.r, _x.g, _x.b))
_x = self.wirelessRemote
# - if encoded as a list instead, serialize as bytes instead of string
if type(_x) in [list, tuple]:
buff.write(_get_struct_40B().pack(*_x))
else:
buff.write(_get_struct_40s().pack(_x))
_x = self
buff.write(_get_struct_2I().pack(_x.reserve, _x.crc))
if len(self.ff) != 4:
self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.ff), 'self.ff')))
for val1 in self.ff:
_x = val1
buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z))
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
def deserialize_numpy(self, str, numpy):
"""
unpack serialized message in str into this message instance using numpy for array types
:param str: byte array of serialized message, ``str``
:param numpy: numpy python module
"""
codecs.lookup_error("rosmsg").msg_type = self._type
try:
if self.motorCmd is None:
self.motorCmd = None
if self.led is None:
self.led = None
if self.ff is None:
self.ff = None
end = 0
_x = self
start = end
end += 10
(_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth,) = _get_struct_B2HIB().unpack(str[start:end])
self.motorCmd = []
for i in range(0, 20):
val1 = unitree_legged_msgs.msg.MotorCmd()
_x = val1
start = end
end += 21
(_x.mode, _x.q, _x.dq, _x.tau, _x.Kp, _x.Kd,) = _get_struct_B5f().unpack(str[start:end])
start = end
end += 12
val1.reserve = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=3)
self.motorCmd.append(val1)
self.led = []
for i in range(0, 4):
val1 = unitree_legged_msgs.msg.LED()
_x = val1
start = end
end += 3
(_x.r, _x.g, _x.b,) = _get_struct_3B().unpack(str[start:end])
self.led.append(val1)
start = end
end += 40
self.wirelessRemote = str[start:end]
_x = self
start = end
end += 8
(_x.reserve, _x.crc,) = _get_struct_2I().unpack(str[start:end])
self.ff = []
for i in range(0, 4):
val1 = unitree_legged_msgs.msg.Cartesian()
_x = val1
start = end
end += 12
(_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end])
self.ff.append(val1)
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
_struct_I = genpy.struct_I
def _get_struct_I():
global _struct_I
return _struct_I
_struct_2I = None
def _get_struct_2I():
global _struct_2I
if _struct_2I is None:
_struct_2I = struct.Struct("<2I")
return _struct_2I
_struct_3B = None
def _get_struct_3B():
global _struct_3B
if _struct_3B is None:
_struct_3B = struct.Struct("<3B")
return _struct_3B
_struct_3I = None
def _get_struct_3I():
global _struct_3I
if _struct_3I is None:
_struct_3I = struct.Struct("<3I")
return _struct_3I
_struct_3f = None
def _get_struct_3f():
global _struct_3f
if _struct_3f is None:
_struct_3f = struct.Struct("<3f")
return _struct_3f
_struct_40B = None
def _get_struct_40B():
global _struct_40B
if _struct_40B is None:
_struct_40B = struct.Struct("<40B")
return _struct_40B
_struct_40s = None
def _get_struct_40s():
global _struct_40s
if _struct_40s is None:
_struct_40s = struct.Struct("<40s")
return _struct_40s
_struct_B2HIB = None
def _get_struct_B2HIB():
global _struct_B2HIB
if _struct_B2HIB is None:
_struct_B2HIB = struct.Struct("<B2HIB")
return _struct_B2HIB
_struct_B5f = None
def _get_struct_B5f():
global _struct_B5f
if _struct_B5f is None:
_struct_B5f = struct.Struct("<B5f")
return _struct_B5f

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src/客户端代码/devel/lib/python2.7/dist-packages/unitree_legged_msgs/msg/_LowState.py
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# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from unitree_legged_msgs/LowState.msg. Do not edit."""
import codecs
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct
import unitree_legged_msgs.msg
class LowState(genpy.Message):
_md5sum = "cef9d4f6b5a89bd6330896affb1bca88"
_type = "unitree_legged_msgs/LowState"
_has_header = False # flag to mark the presence of a Header object
_full_text = """uint8 levelFlag
uint16 commVersion # Old version Aliengo does not have
uint16 robotID # Old version Aliengo does not have
uint32 SN # Old version Aliengo does not have
uint8 bandWidth # Old version Aliengo does not have
IMU imu
MotorState[20] motorState
int16[4] footForce # force sensors # Old version Aliengo is different
int16[4] footForceEst # force sensors # Old version Aliengo does not have
uint32 tick # reference real-time from motion controller (unit: us)
uint8[40] wirelessRemote # wireless commands
uint32 reserve # Old version Aliengo does not have
uint32 crc
# Old version Aliengo does not have:
Cartesian[4] eeForceRaw
Cartesian[4] eeForce #it's a 1-DOF force infact, but we use 3-DOF here just for visualization
Cartesian position # will delete
Cartesian velocity # will delete
Cartesian velocity_w # will delete
================================================================================
MSG: unitree_legged_msgs/IMU
float32[4] quaternion
float32[3] gyroscope
float32[3] accelerometer
int8 temperature
================================================================================
MSG: unitree_legged_msgs/MotorState
uint8 mode # motor current mode
float32 q # motor current position（rad）
float32 dq # motor current speed（rad/s）
float32 ddq # motor current speed（rad/s）
float32 tauEst # current estimated output torque（N*m）
float32 q_raw # motor current position（rad）
float32 dq_raw # motor current speed（rad/s）
float32 ddq_raw # motor current speed（rad/s）
int8 temperature # motor temperature（slow conduction of temperature leads to lag）
uint32[2] reserve
================================================================================
MSG: unitree_legged_msgs/Cartesian
float32 x
float32 y
float32 z"""
__slots__ = ['levelFlag','commVersion','robotID','SN','bandWidth','imu','motorState','footForce','footForceEst','tick','wirelessRemote','reserve','crc','eeForceRaw','eeForce','position','velocity','velocity_w']
_slot_types = ['uint8','uint16','uint16','uint32','uint8','unitree_legged_msgs/IMU','unitree_legged_msgs/MotorState[20]','int16[4]','int16[4]','uint32','uint8[40]','uint32','uint32','unitree_legged_msgs/Cartesian[4]','unitree_legged_msgs/Cartesian[4]','unitree_legged_msgs/Cartesian','unitree_legged_msgs/Cartesian','unitree_legged_msgs/Cartesian']
def __init__(self, *args, **kwds):
"""
Constructor. Any message fields that are implicitly/explicitly
set to None will be assigned a default value. The recommend
use is keyword arguments as this is more robust to future message
changes. You cannot mix in-order arguments and keyword arguments.
The available fields are:
levelFlag,commVersion,robotID,SN,bandWidth,imu,motorState,footForce,footForceEst,tick,wirelessRemote,reserve,crc,eeForceRaw,eeForce,position,velocity,velocity_w
:param args: complete set of field values, in .msg order
:param kwds: use keyword arguments corresponding to message field names
to set specific fields.
"""
if args or kwds:
super(LowState, self).__init__(*args, **kwds)
# message fields cannot be None, assign default values for those that are
if self.levelFlag is None:
self.levelFlag = 0
if self.commVersion is None:
self.commVersion = 0
if self.robotID is None:
self.robotID = 0
if self.SN is None:
self.SN = 0
if self.bandWidth is None:
self.bandWidth = 0
if self.imu is None:
self.imu = unitree_legged_msgs.msg.IMU()
if self.motorState is None:
self.motorState = [unitree_legged_msgs.msg.MotorState() for _ in range(20)]
if self.footForce is None:
self.footForce = [0] * 4
if self.footForceEst is None:
self.footForceEst = [0] * 4
if self.tick is None:
self.tick = 0
if self.wirelessRemote is None:
self.wirelessRemote = b'\0'*40
if self.reserve is None:
self.reserve = 0
if self.crc is None:
self.crc = 0
if self.eeForceRaw is None:
self.eeForceRaw = [unitree_legged_msgs.msg.Cartesian() for _ in range(4)]
if self.eeForce is None:
self.eeForce = [unitree_legged_msgs.msg.Cartesian() for _ in range(4)]
if self.position is None:
self.position = unitree_legged_msgs.msg.Cartesian()
if self.velocity is None:
self.velocity = unitree_legged_msgs.msg.Cartesian()
if self.velocity_w is None:
self.velocity_w = unitree_legged_msgs.msg.Cartesian()
else:
self.levelFlag = 0
self.commVersion = 0
self.robotID = 0
self.SN = 0
self.bandWidth = 0
self.imu = unitree_legged_msgs.msg.IMU()
self.motorState = [unitree_legged_msgs.msg.MotorState() for _ in range(20)]
self.footForce = [0] * 4
self.footForceEst = [0] * 4
self.tick = 0
self.wirelessRemote = b'\0'*40
self.reserve = 0
self.crc = 0
self.eeForceRaw = [unitree_legged_msgs.msg.Cartesian() for _ in range(4)]
self.eeForce = [unitree_legged_msgs.msg.Cartesian() for _ in range(4)]
self.position = unitree_legged_msgs.msg.Cartesian()
self.velocity = unitree_legged_msgs.msg.Cartesian()
self.velocity_w = unitree_legged_msgs.msg.Cartesian()
def _get_types(self):
"""
internal API method
"""
return self._slot_types
def serialize(self, buff):
"""
serialize message into buffer
:param buff: buffer, ``StringIO``
"""
try:
_x = self
buff.write(_get_struct_B2HIB().pack(_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth))
buff.write(_get_struct_4f().pack(*self.imu.quaternion))
buff.write(_get_struct_3f().pack(*self.imu.gyroscope))
buff.write(_get_struct_3f().pack(*self.imu.accelerometer))
_x = self.imu.temperature
buff.write(_get_struct_b().pack(_x))
if len(self.motorState) != 20:
self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (20, len(self.motorState), 'self.motorState')))
for val1 in self.motorState:
_x = val1
buff.write(_get_struct_B7fb().pack(_x.mode, _x.q, _x.dq, _x.ddq, _x.tauEst, _x.q_raw, _x.dq_raw, _x.ddq_raw, _x.temperature))
buff.write(_get_struct_2I().pack(*val1.reserve))
buff.write(_get_struct_4h().pack(*self.footForce))
buff.write(_get_struct_4h().pack(*self.footForceEst))
_x = self.tick
buff.write(_get_struct_I().pack(_x))
_x = self.wirelessRemote
# - if encoded as a list instead, serialize as bytes instead of string
if type(_x) in [list, tuple]:
buff.write(_get_struct_40B().pack(*_x))
else:
buff.write(_get_struct_40s().pack(_x))
_x = self
buff.write(_get_struct_2I().pack(_x.reserve, _x.crc))
if len(self.eeForceRaw) != 4:
self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.eeForceRaw), 'self.eeForceRaw')))
for val1 in self.eeForceRaw:
_x = val1
buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z))
if len(self.eeForce) != 4:
self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.eeForce), 'self.eeForce')))
for val1 in self.eeForce:
_x = val1
buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z))
_x = self
buff.write(_get_struct_9f().pack(_x.position.x, _x.position.y, _x.position.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.velocity_w.x, _x.velocity_w.y, _x.velocity_w.z))
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
def deserialize(self, str):
"""
unpack serialized message in str into this message instance
:param str: byte array of serialized message, ``str``
"""
codecs.lookup_error("rosmsg").msg_type = self._type
try:
if self.imu is None:
self.imu = unitree_legged_msgs.msg.IMU()
if self.motorState is None:
self.motorState = None
if self.eeForceRaw is None:
self.eeForceRaw = None
if self.eeForce is None:
self.eeForce = None
if self.position is None:
self.position = unitree_legged_msgs.msg.Cartesian()
if self.velocity is None:
self.velocity = unitree_legged_msgs.msg.Cartesian()
if self.velocity_w is None:
self.velocity_w = unitree_legged_msgs.msg.Cartesian()
end = 0
_x = self
start = end
end += 10
(_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth,) = _get_struct_B2HIB().unpack(str[start:end])
start = end
end += 16
self.imu.quaternion = _get_struct_4f().unpack(str[start:end])
start = end
end += 12
self.imu.gyroscope = _get_struct_3f().unpack(str[start:end])
start = end
end += 12
self.imu.accelerometer = _get_struct_3f().unpack(str[start:end])
start = end
end += 1
(self.imu.temperature,) = _get_struct_b().unpack(str[start:end])
self.motorState = []
for i in range(0, 20):
val1 = unitree_legged_msgs.msg.MotorState()
_x = val1
start = end
end += 30
(_x.mode, _x.q, _x.dq, _x.ddq, _x.tauEst, _x.q_raw, _x.dq_raw, _x.ddq_raw, _x.temperature,) = _get_struct_B7fb().unpack(str[start:end])
start = end
end += 8
val1.reserve = _get_struct_2I().unpack(str[start:end])
self.motorState.append(val1)
start = end
end += 8
self.footForce = _get_struct_4h().unpack(str[start:end])
start = end
end += 8
self.footForceEst = _get_struct_4h().unpack(str[start:end])
start = end
end += 4
(self.tick,) = _get_struct_I().unpack(str[start:end])
start = end
end += 40
self.wirelessRemote = str[start:end]
_x = self
start = end
end += 8
(_x.reserve, _x.crc,) = _get_struct_2I().unpack(str[start:end])
self.eeForceRaw = []
for i in range(0, 4):
val1 = unitree_legged_msgs.msg.Cartesian()
_x = val1
start = end
end += 12
(_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end])
self.eeForceRaw.append(val1)
self.eeForce = []
for i in range(0, 4):
val1 = unitree_legged_msgs.msg.Cartesian()
_x = val1
start = end
end += 12
(_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end])
self.eeForce.append(val1)
_x = self
start = end
end += 36
(_x.position.x, _x.position.y, _x.position.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.velocity_w.x, _x.velocity_w.y, _x.velocity_w.z,) = _get_struct_9f().unpack(str[start:end])
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
def serialize_numpy(self, buff, numpy):
"""
serialize message with numpy array types into buffer
:param buff: buffer, ``StringIO``
:param numpy: numpy python module
"""
try:
_x = self
buff.write(_get_struct_B2HIB().pack(_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth))
buff.write(self.imu.quaternion.tostring())
buff.write(self.imu.gyroscope.tostring())
buff.write(self.imu.accelerometer.tostring())
_x = self.imu.temperature
buff.write(_get_struct_b().pack(_x))
if len(self.motorState) != 20:
self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (20, len(self.motorState), 'self.motorState')))
for val1 in self.motorState:
_x = val1
buff.write(_get_struct_B7fb().pack(_x.mode, _x.q, _x.dq, _x.ddq, _x.tauEst, _x.q_raw, _x.dq_raw, _x.ddq_raw, _x.temperature))
buff.write(val1.reserve.tostring())
buff.write(self.footForce.tostring())
buff.write(self.footForceEst.tostring())
_x = self.tick
buff.write(_get_struct_I().pack(_x))
_x = self.wirelessRemote
# - if encoded as a list instead, serialize as bytes instead of string
if type(_x) in [list, tuple]:
buff.write(_get_struct_40B().pack(*_x))
else:
buff.write(_get_struct_40s().pack(_x))
_x = self
buff.write(_get_struct_2I().pack(_x.reserve, _x.crc))
if len(self.eeForceRaw) != 4:
self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.eeForceRaw), 'self.eeForceRaw')))
for val1 in self.eeForceRaw:
_x = val1
buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z))
if len(self.eeForce) != 4:
self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.eeForce), 'self.eeForce')))
for val1 in self.eeForce:
_x = val1
buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z))
_x = self
buff.write(_get_struct_9f().pack(_x.position.x, _x.position.y, _x.position.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.velocity_w.x, _x.velocity_w.y, _x.velocity_w.z))
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
def deserialize_numpy(self, str, numpy):
"""
unpack serialized message in str into this message instance using numpy for array types
:param str: byte array of serialized message, ``str``
:param numpy: numpy python module
"""
codecs.lookup_error("rosmsg").msg_type = self._type
try:
if self.imu is None:
self.imu = unitree_legged_msgs.msg.IMU()
if self.motorState is None:
self.motorState = None
if self.eeForceRaw is None:
self.eeForceRaw = None
if self.eeForce is None:
self.eeForce = None
if self.position is None:
self.position = unitree_legged_msgs.msg.Cartesian()
if self.velocity is None:
self.velocity = unitree_legged_msgs.msg.Cartesian()
if self.velocity_w is None:
self.velocity_w = unitree_legged_msgs.msg.Cartesian()
end = 0
_x = self
start = end
end += 10
(_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth,) = _get_struct_B2HIB().unpack(str[start:end])
start = end
end += 16
self.imu.quaternion = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=4)
start = end
end += 12
self.imu.gyroscope = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=3)
start = end
end += 12
self.imu.accelerometer = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=3)
start = end
end += 1
(self.imu.temperature,) = _get_struct_b().unpack(str[start:end])
self.motorState = []
for i in range(0, 20):
val1 = unitree_legged_msgs.msg.MotorState()
_x = val1
start = end
end += 30
(_x.mode, _x.q, _x.dq, _x.ddq, _x.tauEst, _x.q_raw, _x.dq_raw, _x.ddq_raw, _x.temperature,) = _get_struct_B7fb().unpack(str[start:end])
start = end
end += 8
val1.reserve = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=2)
self.motorState.append(val1)
start = end
end += 8
self.footForce = numpy.frombuffer(str[start:end], dtype=numpy.int16, count=4)
start = end
end += 8
self.footForceEst = numpy.frombuffer(str[start:end], dtype=numpy.int16, count=4)
start = end
end += 4
(self.tick,) = _get_struct_I().unpack(str[start:end])
start = end
end += 40
self.wirelessRemote = str[start:end]
_x = self
start = end
end += 8
(_x.reserve, _x.crc,) = _get_struct_2I().unpack(str[start:end])
self.eeForceRaw = []
for i in range(0, 4):
val1 = unitree_legged_msgs.msg.Cartesian()
_x = val1
start = end
end += 12
(_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end])
self.eeForceRaw.append(val1)
self.eeForce = []
for i in range(0, 4):
val1 = unitree_legged_msgs.msg.Cartesian()
_x = val1
start = end
end += 12
(_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end])
self.eeForce.append(val1)
_x = self
start = end
end += 36
(_x.position.x, _x.position.y, _x.position.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.velocity_w.x, _x.velocity_w.y, _x.velocity_w.z,) = _get_struct_9f().unpack(str[start:end])
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
_struct_I = genpy.struct_I
def _get_struct_I():
global _struct_I
return _struct_I
_struct_2I = None
def _get_struct_2I():
global _struct_2I
if _struct_2I is None:
_struct_2I = struct.Struct("<2I")
return _struct_2I
_struct_3f = None
def _get_struct_3f():
global _struct_3f
if _struct_3f is None:
_struct_3f = struct.Struct("<3f")
return _struct_3f
_struct_40B = None
def _get_struct_40B():
global _struct_40B
if _struct_40B is None:
_struct_40B = struct.Struct("<40B")
return _struct_40B
_struct_40s = None
def _get_struct_40s():
global _struct_40s
if _struct_40s is None:
_struct_40s = struct.Struct("<40s")
return _struct_40s
_struct_4f = None
def _get_struct_4f():
global _struct_4f
if _struct_4f is None:
_struct_4f = struct.Struct("<4f")
return _struct_4f
_struct_4h = None
def _get_struct_4h():
global _struct_4h
if _struct_4h is None:
_struct_4h = struct.Struct("<4h")
return _struct_4h
_struct_9f = None
def _get_struct_9f():
global _struct_9f
if _struct_9f is None:
_struct_9f = struct.Struct("<9f")
return _struct_9f
_struct_B2HIB = None
def _get_struct_B2HIB():
global _struct_B2HIB
if _struct_B2HIB is None:
_struct_B2HIB = struct.Struct("<B2HIB")
return _struct_B2HIB
_struct_B7fb = None
def _get_struct_B7fb():
global _struct_B7fb
if _struct_B7fb is None:
_struct_B7fb = struct.Struct("<B7fb")
return _struct_B7fb
_struct_b = None
def _get_struct_b():
global _struct_b
if _struct_b is None:
_struct_b = struct.Struct("<b")
return _struct_b

150
src/客户端代码/devel/lib/python2.7/dist-packages/unitree_legged_msgs/msg/_MotorCmd.py
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@ -1,150 +0,0 @@
# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from unitree_legged_msgs/MotorCmd.msg. Do not edit."""
import codecs
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct
class MotorCmd(genpy.Message):
_md5sum = "bbb3b7d91319c3a1b99055f0149ba221"
_type = "unitree_legged_msgs/MotorCmd"
_has_header = False # flag to mark the presence of a Header object
_full_text = """uint8 mode # motor target mode
float32 q # motor target position
float32 dq # motor target velocity
float32 tau # motor target torque
float32 Kp # motor spring stiffness coefficient
float32 Kd # motor damper coefficient
uint32[3] reserve # motor target torque"""
__slots__ = ['mode','q','dq','tau','Kp','Kd','reserve']
_slot_types = ['uint8','float32','float32','float32','float32','float32','uint32[3]']
def __init__(self, *args, **kwds):
"""
Constructor. Any message fields that are implicitly/explicitly
set to None will be assigned a default value. The recommend
use is keyword arguments as this is more robust to future message
changes. You cannot mix in-order arguments and keyword arguments.
The available fields are:
mode,q,dq,tau,Kp,Kd,reserve
:param args: complete set of field values, in .msg order
:param kwds: use keyword arguments corresponding to message field names
to set specific fields.
"""
if args or kwds:
super(MotorCmd, self).__init__(*args, **kwds)
# message fields cannot be None, assign default values for those that are
if self.mode is None:
self.mode = 0
if self.q is None:
self.q = 0.
if self.dq is None:
self.dq = 0.
if self.tau is None:
self.tau = 0.
if self.Kp is None:
self.Kp = 0.
if self.Kd is None:
self.Kd = 0.
if self.reserve is None:
self.reserve = [0] * 3
else:
self.mode = 0
self.q = 0.
self.dq = 0.
self.tau = 0.
self.Kp = 0.
self.Kd = 0.
self.reserve = [0] * 3
def _get_types(self):
"""
internal API method
"""
return self._slot_types
def serialize(self, buff):
"""
serialize message into buffer
:param buff: buffer, ``StringIO``
"""
try:
_x = self
buff.write(_get_struct_B5f().pack(_x.mode, _x.q, _x.dq, _x.tau, _x.Kp, _x.Kd))
buff.write(_get_struct_3I().pack(*self.reserve))
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
def deserialize(self, str):
"""
unpack serialized message in str into this message instance
:param str: byte array of serialized message, ``str``
"""
codecs.lookup_error("rosmsg").msg_type = self._type
try:
end = 0
_x = self
start = end
end += 21
(_x.mode, _x.q, _x.dq, _x.tau, _x.Kp, _x.Kd,) = _get_struct_B5f().unpack(str[start:end])
start = end
end += 12
self.reserve = _get_struct_3I().unpack(str[start:end])
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
def serialize_numpy(self, buff, numpy):
"""
serialize message with numpy array types into buffer
:param buff: buffer, ``StringIO``
:param numpy: numpy python module
"""
try:
_x = self
buff.write(_get_struct_B5f().pack(_x.mode, _x.q, _x.dq, _x.tau, _x.Kp, _x.Kd))
buff.write(self.reserve.tostring())
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
def deserialize_numpy(self, str, numpy):
"""
unpack serialized message in str into this message instance using numpy for array types
:param str: byte array of serialized message, ``str``
:param numpy: numpy python module
"""
codecs.lookup_error("rosmsg").msg_type = self._type
try:
end = 0
_x = self
start = end
end += 21
(_x.mode, _x.q, _x.dq, _x.tau, _x.Kp, _x.Kd,) = _get_struct_B5f().unpack(str[start:end])
start = end
end += 12
self.reserve = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=3)
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
_struct_I = genpy.struct_I
def _get_struct_I():
global _struct_I
return _struct_I
_struct_3I = None
def _get_struct_3I():
global _struct_3I
if _struct_3I is None:
_struct_3I = struct.Struct("<3I")
return _struct_3I
_struct_B5f = None
def _get_struct_B5f():
global _struct_B5f
if _struct_B5f is None:
_struct_B5f = struct.Struct("<B5f")
return _struct_B5f

162
src/客户端代码/devel/lib/python2.7/dist-packages/unitree_legged_msgs/msg/_MotorState.py
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@ -1,162 +0,0 @@
# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from unitree_legged_msgs/MotorState.msg. Do not edit."""
import codecs
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct
class MotorState(genpy.Message):
_md5sum = "94c55ee3b7852be2bd437b20ce12a254"
_type = "unitree_legged_msgs/MotorState"
_has_header = False # flag to mark the presence of a Header object
_full_text = """uint8 mode # motor current mode
float32 q # motor current position（rad）
float32 dq # motor current speed（rad/s）
float32 ddq # motor current speed（rad/s）
float32 tauEst # current estimated output torque（N*m）
float32 q_raw # motor current position（rad）
float32 dq_raw # motor current speed（rad/s）
float32 ddq_raw # motor current speed（rad/s）
int8 temperature # motor temperature（slow conduction of temperature leads to lag）
uint32[2] reserve"""
__slots__ = ['mode','q','dq','ddq','tauEst','q_raw','dq_raw','ddq_raw','temperature','reserve']
_slot_types = ['uint8','float32','float32','float32','float32','float32','float32','float32','int8','uint32[2]']
def __init__(self, *args, **kwds):
"""
Constructor. Any message fields that are implicitly/explicitly
set to None will be assigned a default value. The recommend
use is keyword arguments as this is more robust to future message
changes. You cannot mix in-order arguments and keyword arguments.
The available fields are:
mode,q,dq,ddq,tauEst,q_raw,dq_raw,ddq_raw,temperature,reserve
:param args: complete set of field values, in .msg order
:param kwds: use keyword arguments corresponding to message field names
to set specific fields.
"""
if args or kwds:
super(MotorState, self).__init__(*args, **kwds)
# message fields cannot be None, assign default values for those that are
if self.mode is None:
self.mode = 0
if self.q is None:
self.q = 0.
if self.dq is None:
self.dq = 0.
if self.ddq is None:
self.ddq = 0.
if self.tauEst is None:
self.tauEst = 0.
if self.q_raw is None:
self.q_raw = 0.
if self.dq_raw is None:
self.dq_raw = 0.
if self.ddq_raw is None:
self.ddq_raw = 0.
if self.temperature is None:
self.temperature = 0
if self.reserve is None:
self.reserve = [0] * 2
else:
self.mode = 0
self.q = 0.
self.dq = 0.
self.ddq = 0.
self.tauEst = 0.
self.q_raw = 0.
self.dq_raw = 0.
self.ddq_raw = 0.
self.temperature = 0
self.reserve = [0] * 2
def _get_types(self):
"""
internal API method
"""
return self._slot_types
def serialize(self, buff):
"""
serialize message into buffer
:param buff: buffer, ``StringIO``
"""
try:
_x = self
buff.write(_get_struct_B7fb().pack(_x.mode, _x.q, _x.dq, _x.ddq, _x.tauEst, _x.q_raw, _x.dq_raw, _x.ddq_raw, _x.temperature))
buff.write(_get_struct_2I().pack(*self.reserve))
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
def deserialize(self, str):
"""
unpack serialized message in str into this message instance
:param str: byte array of serialized message, ``str``
"""
codecs.lookup_error("rosmsg").msg_type = self._type
try:
end = 0
_x = self
start = end
end += 30
(_x.mode, _x.q, _x.dq, _x.ddq, _x.tauEst, _x.q_raw, _x.dq_raw, _x.ddq_raw, _x.temperature,) = _get_struct_B7fb().unpack(str[start:end])
start = end
end += 8
self.reserve = _get_struct_2I().unpack(str[start:end])
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
def serialize_numpy(self, buff, numpy):
"""
serialize message with numpy array types into buffer
:param buff: buffer, ``StringIO``
:param numpy: numpy python module
"""
try:
_x = self
buff.write(_get_struct_B7fb().pack(_x.mode, _x.q, _x.dq, _x.ddq, _x.tauEst, _x.q_raw, _x.dq_raw, _x.ddq_raw, _x.temperature))
buff.write(self.reserve.tostring())
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
def deserialize_numpy(self, str, numpy):
"""
unpack serialized message in str into this message instance using numpy for array types
:param str: byte array of serialized message, ``str``
:param numpy: numpy python module
"""
codecs.lookup_error("rosmsg").msg_type = self._type
try:
end = 0
_x = self
start = end
end += 30
(_x.mode, _x.q, _x.dq, _x.ddq, _x.tauEst, _x.q_raw, _x.dq_raw, _x.ddq_raw, _x.temperature,) = _get_struct_B7fb().unpack(str[start:end])
start = end
end += 8
self.reserve = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=2)
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
_struct_I = genpy.struct_I
def _get_struct_I():
global _struct_I
return _struct_I
_struct_2I = None
def _get_struct_2I():
global _struct_2I
if _struct_2I is None:
_struct_2I = struct.Struct("<2I")
return _struct_2I
_struct_B7fb = None
def _get_struct_B7fb():
global _struct_B7fb
if _struct_B7fb is None:
_struct_B7fb = struct.Struct("<B7fb")
return _struct_B7fb

9
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@ -1,9 +0,0 @@
from ._Cartesian import *
from ._HighCmd import *
from ._HighState import *
from ._IMU import *
from ._LED import *
from ._LowCmd import *
from ._LowState import *
from ._MotorCmd import *
from ._MotorState import *

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