fix udp bug

Make it compatible with SDK 3.8.0
unitreerobotics · Oct 21, 2022 · 8bc209f · 8bc209f
1 parent d422b91
commit 8bc209f
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Showing 4 changed files with 13 additions and 18 deletions.
diff --git a/unitree_legged_real/CMakeLists.txt b/unitree_legged_real/CMakeLists.txt
@@ -17,15 +17,13 @@ if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "x86_64.*")
 else()
   set(ARCH arm64)
 endif()
-set(LEGGED_SDK_NAME -pthread libunitree_legged_sdk_${ARCH}.so lcm)
 
-set(EXTRA_LIBS ${LEGGED_SDK_NAME} lcm)
+link_directories(${CMAKE_SOURCE_DIR}/unitree_legged_sdk/lib/cpp/${ARCH})
 
+set(EXTRA_LIBS -pthread libunitree_legged_sdk.so)
 
 set(CMAKE_CXX_FLAGS "-O3 -fPIC")
 
-
-
 include_directories(
     include
     ${catkin_INCLUDE_DIRS}
@@ -34,7 +32,7 @@ include_directories(
 
 
 
-link_directories(${CMAKE_SOURCE_DIR}/unitree_legged_sdk/lib)
+
 
 
 
@@ -62,3 +60,4 @@ add_dependencies(control_via_keyboard ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catk
 add_executable(twist_sub src/exe/twist_sub.cpp)
 target_link_libraries(twist_sub ${EXTRA_LIBS} ${catkin_LIBRARIES})
 add_dependencies(twist_sub ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
diff --git a/unitree_legged_real/ipconfig.sh b/unitree_legged_real/ipconfig.sh
diff --git a/unitree_legged_real/src/exe/ros_udp.cpp b/unitree_legged_real/src/exe/ros_udp.cpp
@@ -24,8 +24,10 @@ class Custom
 
 public:
     Custom()
-        : low_udp(LOWLEVEL),
-          high_udp(8090, "192.168.123.161", 8082, sizeof(HighCmd), sizeof(HighState))
+        : 
+        // low_udp(LOWLEVEL),
+        low_udp(LOWLEVEL, 8091, "192.168.123.10", 8007),
+        high_udp(8090, "192.168.123.161", 8082, sizeof(HighCmd), sizeof(HighState))
     {
         high_udp.InitCmdData(high_cmd);
         low_udp.InitCmdData(low_cmd);

diff --git a/unitree_legged_real/src/exe/twist_sub.cpp b/unitree_legged_real/src/exe/twist_sub.cpp
@@ -24,8 +24,10 @@ class Custom
 
 public:
     Custom()
-        : low_udp(LOWLEVEL),
-          high_udp(8090, "192.168.123.161", 8082, sizeof(HighCmd), sizeof(HighState))
+        : 
+        // low_udp(LOWLEVEL),
+        low_udp(LOWLEVEL, 8091, "192.168.123.10", 8007),
+        high_udp(8090, "192.168.123.161", 8082, sizeof(HighCmd), sizeof(HighState))
     {
         high_udp.InitCmdData(high_cmd);
         low_udp.InitCmdData(low_cmd);
@@ -107,4 +109,4 @@ int main(int argc, char **argv)
     ros::spin();
 
     return 0;
-}
+}