{"id":345034,"date":"2023-08-09T08:02:45","date_gmt":"2023-08-08T23:02:45","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=345034"},"modified":"2023-08-09T08:04:00","modified_gmt":"2023-08-08T23:04:00","slug":"go1-low-level-real","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/go1-low-level-real.html","title":{"rendered":"Unitree Go1\u3092low level\u5236\u5fa1\u3067\u6b69\u884c\u3055\u305b\u308b\u624b\u9806\u306e\u7d39\u4ecb"},"content":{"rendered":"<h4>1. \u306f\u3058\u3081\u306b<\/h4>\n<p>\u672c\u7a3f\u306f\u3001\u524d\u4f5c\u306e\u8a18\u4e8b\u300c<a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/go1-low-level-sim.html\" target=\"_blank\" rel=\"noopener\">Unitree Go1\u306eLow level\u5236\u5fa1\u304c\u624b\u8efd\u306b\u4f53\u9a13\u3067\u304d\u308b\u30b5\u30f3\u30d7\u30eb\u306e\u7d39\u4ecb<\/a>\u300d\u306e\u7d9a\u7de8\u3067\u3059\u3002<\/p>\n<p>\u524d\u4f5c\u3067\u306f\u3001Unitree\u793e\u306eGithub\u306b\u3042\u308bunitree_guide\u3068\u3044\u3046\u30ea\u30dd\u30b8\u30c8\u30ea\u3092\u4f7f\u3063\u3066\u3001Go1\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4e0a\u3067Low level\u5236\u5fa1\u3067\u52d5\u304b\u3057\u307e\u3057\u305f\u3002\u672c\u7a3f\u3067\u306f\u3001\u540c\u3058\u304funitree_guide\u3092\u4f7f\u3063\u3066\u3001Low level\u5236\u5fa1\u3067\u300c\u5b9f\u969b\u306eGo1\u30ed\u30dc\u30c3\u30c8\u300d\u3092\u52d5\u304b\u3059\u624b\u9806\u3092\u307e\u3068\u3081\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>Low level\u5236\u5fa1\u3067\u56db\u8db3\u6b69\u884c\u30ed\u30dc\u30c3\u30c8\u3092\u52d5\u304b\u305d\u3046\u3068\u3059\u308b\u3068\u3001\uff11\u304b\u3089\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0\u3092\u59cb\u3081\u308b\u3068\u3001\u8ee2\u5012\u3057\u305f\u308a\u60f3\u5b9a\u5916\u306e\u52d5\u304d\u3092\u3057\u3066\u3001\u306a\u304b\u306a\u304b\u6b69\u884c\u3055\u305b\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u305b\u3093\u3002\u4e00\u65b9\u3067\u3001unitree_guide\u306e\u3088\u3046\u306a\u52d5\u4f5c\u78ba\u8a8d\u304c\u53d6\u308c\u3066\u3044\u308b\u30d7\u30ed\u30b0\u30e9\u30e0\u3067\u3042\u308c\u3070\u3001\u5b9f\u969b\u306e\u30ed\u30dc\u30c3\u30c8\u304cLow level\u5236\u5fa1\u3067\u6b69\u884c\u3059\u308b\u69d8\u5b50\u3092\u3059\u3050\u306b\u697d\u3057\u3081\u307e\u3059\u3002\u56db\u8db3\u6b69\u884c\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u884c\u5236\u5fa1\u3092\u7814\u7a76\u3059\u308b\u306b\u306f\u3001\u304d\u3061\u3093\u3068\u6b69\u884c\u3059\u308b\u72b6\u614b\u304b\u3089\u59cb\u3081\u308b\u65b9\u304c\u9032\u3081\u3084\u3059\u3044\u5834\u5408\u3082\u3042\u308b\u3053\u3068\u3067\u3057\u3087\u3046\u3002\u305d\u306e\u624b\u52a9\u3051\u3068\u306a\u308b\u3088\u3046\u3001\u624b\u9806\u3092\u307e\u3068\u3081\u307e\u3057\u305f\u3002<\/p>\n<p>&nbsp;<\/p>\n<h4>2. High level\u5236\u5fa1\u3068Low level\u5236\u5fa1\u3068\u306f<\/h4>\n<p><span>Unitree\u793e\u306e\u56db\u8db3\u6b69\u884c\u30ed\u30dc\u30c3\u30c8\u306b\u306f\u3001\u30e6\u30fc\u30b6\u306e\u4f5c\u6210\u3059\u308b\u30d7\u30ed\u30b0\u30e9\u30e0\u304b\u3089\u6b69\u884c\u3092\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u3059\u308b\u305f\u3081\u306eAPI\u3068\u3057\u3066\u3001\u300cHigh level API\u300d\u3068\u300cLow level API\u300d\u306e\uff12\u7a2e\u985e\u304c\u7528\u610f\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/span><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/5621deba8a18b839c7a4321764bb05e8-1024x576.png\" alt=\"\" width=\"993\" height=\"559\" class=\"alignnone wp-image-345036 size-large\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/5621deba8a18b839c7a4321764bb05e8-1024x576.png 1024w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/5621deba8a18b839c7a4321764bb05e8-300x169.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/5621deba8a18b839c7a4321764bb05e8-768x432.png 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/5621deba8a18b839c7a4321764bb05e8-356x200.png 356w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/5621deba8a18b839c7a4321764bb05e8-426x240.png 426w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/5621deba8a18b839c7a4321764bb05e8-128x72.png 128w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/5621deba8a18b839c7a4321764bb05e8.png 1280w\" sizes=\"auto, (max-width: 993px) 100vw, 993px\" \/><\/p>\n<p>High level API\u306f\u3001\u30ed\u30dc\u30c3\u30c8\u672c\u4f53\u3092\u524d\u5f8c\u5de6\u53f3\u306b\u52d5\u304b\u3057\u305f\u308a\u3001\u9759\u6b62\u3057\u3066\u3044\u308b\u30ed\u30dc\u30c3\u30c8\u672c\u4f53\u306e\u59ff\u52e2\u3092\u5909\u3048\u308b\u3068\u3044\u3063\u305f\u6bd4\u8f03\u7684\u5206\u304b\u308a\u3084\u3059\u3044\u5207\u308a\u53e3\u3067\u3042\u308a\u3001\u3053\u308c\u3092\u4f7f\u3063\u3066\u30ed\u30dc\u30c3\u30c8\u3092\u6240\u5b9a\u306e\u5834\u6240\u307e\u3067\u6b69\u304b\u305b\u308b\u3068\u3044\u3063\u305f\u52d5\u304d\u304c\u6bd4\u8f03\u7684\u7c21\u5358\u306b\u5b9f\u73fe\u3067\u304d\u308b\u3082\u306e\u3067\u3059\u3002<\/p>\n<p>\u4e00\u65b9\u3001Low level API\u306f\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u5404\u811a\u306e\u95a2\u7bc0\u306b\u4ed8\u3051\u3089\u308c\u3066\u3044\u308b3\u500b\u00d74\u811a\uff1d12\u500b\u306e\u30e2\u30fc\u30bf\u306e\u52d5\u304d\u3092\u76f4\u63a5\u6307\u5b9a\u3059\u308b\u3082\u306e\u3067\u3042\u308a\u3001\u30e2\u30fc\u30bf\u3092\u3069\u306e\u3088\u3046\u306b\u64cd\u308c\u3070\u6b69\u884c\u3084\u30c0\u30f3\u30b9\u306a\u3069\u306e\u8907\u96d1\u306a\u52d5\u304d\u304c\u3067\u304d\u308b\u304b\u306f\u3001\u76f4\u611f\u7684\u306b\u306f\u5206\u304b\u3089\u306a\u3044\u5207\u308a\u53e3\u3067\u3059\u3002<\/p>\n<p>\u901a\u5e38\u3001\u30e2\u30fc\u30bf\u306e\u52d5\u304d\u306f\u3001\u30ed\u30dc\u30c3\u30c8\u3092\u6b69\u884c\u3055\u305b\u308b\u305f\u3081\u306e\u904b\u52d5\u5b66\u306b\u57fa\u3065\u3044\u3066\u6307\u5b9a\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u3001\u3046\u307e\u304f\u6307\u5b9a\u3057\u306a\u3044\u3068\u6b69\u884c\u3084\u59ff\u52e2\u304c\u7dad\u6301\u3067\u304d\u305a\u8ee2\u5012\u3057\u3066\u3057\u307e\u3044\u307e\u3059\u3002\u3067\u3059\u304c\u3001Low level API\u3092\u4f7f\u3063\u305f\u5236\u5fa1(Low level \u5236\u5fa1)\u3092\u4f7f\u3044\u3053\u306a\u3059\u3053\u3068\u304c\u51fa\u6765\u308c\u3070\u3001\u30a2\u30af\u30ed\u30d0\u30c3\u30c8\u7684\u306a\u52d5\u304d\u304c\u53ef\u80fd\u3068\u306a\u3063\u305f\u308a\u3001\u52b9\u7387\u7684\u306a\u52d5\u304d\u3092\u3057\u3066\u30d0\u30c3\u30c6\u30ea\u30fc\u306e\u6d88\u8cbb\u3092\u6291\u3048\u305f\u9577\u6642\u9593\u6b69\u884c\u304c\u53ef\u80fd\u3068\u306a\u3063\u305f\u308a\u3001\u30d0\u30e9\u30f3\u30b9\u3092\u5d29\u3057\u3066\u3082\u8ee2\u5012\u3057\u306b\u304f\u3044\u5236\u5fa1\u304c\u53ef\u80fd\u306b\u306a\u308b\u306a\u3069\u3001\u5b9f\u7528\u7bc4\u56f2\u304c\u5e83\u304c\u308a\u307e\u3059\u3002<\/p>\n<p>\u307e\u305f\u3001\u6700\u8fd1\u3067\u306f\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4e0a\u3067\u6a5f\u68b0\u5b66\u7fd2\u306b\u3088\u308a\u30e2\u30fc\u30bf\u306e\u52d5\u304d\u3092\u5b66\u7fd2\u3055\u305b\u3066\u3001\u904b\u52d5\u5b66\u306b\u3088\u3089\u306a\u3044\u65b0\u305f\u306a\u6b69\u884c\u65b9\u6cd5\u3084\u30d0\u30e9\u30f3\u30b9\u5236\u5fa1\u306a\u3069\u3092\u5b9f\u73fe\u3057\u3066\u3044\u308b\u4f8b\u3082\u3042\u308a\u3001\u5236\u5fa1\u7406\u8ad6\u3060\u3051\u3067\u306a\u304fAI\u7814\u7a76\u306e\u5bfe\u8c61\u306b\u3082\u306a\u308b\u306a\u3069\u3001Low level \u5236\u5fa1\u3092\u5229\u7528\u3057\u305f\u3044\u3068\u3044\u3046\u30e6\u30fc\u30b6\u3082\u5897\u3048\u3064\u3064\u3042\u308a\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h4>3. \u5b9f\u884c\u74b0\u5883<\/h4>\n<p>\u524d\u4f5c\u3068\u540c\u69d8\u3001\u30cf\u30a4\u30b9\u30da\u30c3\u30af\u306aPC\u304c\u5fc5\u8981\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n<p>\u307e\u305f\u3001\u524d\u4f5c\u3068\u540c\u69d8\u3001\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u30d3\u30eb\u30c9\u3059\u308b\u969b\u306bROS\u3092\u4f7f\u3046\u305f\u3081\u3001windows PC\u4e0a\u3067WSL2\u3092\u4f7f\u3063\u3066ubuntu linux\u3092\u7acb\u3061\u4e0a\u3052\u307e\u3059\u3002<\/p>\n<ul>\n<li><strong>PC:<\/strong>\u00a0 Core-i7\u3001\u30e1\u30e2\u30ea32Gbyte\u4ee5\u4e0a\u304c\u63a8\u5968 (\u4f4e\u30b9\u30da\u30c3\u30af\u306ePC\u3067\u306f\u51e6\u7406\u304c\u8ffd\u3044\u4ed8\u304b\u305a\u6b69\u884c\u304c\u4e0d\u5b89\u5b9a\u306b\u306a\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059)<\/li>\n<li><strong>\u30db\u30b9\u30c8OS:\u00a0<\/strong><span>\u00a0<\/span>Windows 10 \u30d0\u30fc\u30b8\u30e7\u30f32004\u4ee5\u4e0a (\u30d3\u30eb\u30c919041\u4ee5\u4e0a)<\/li>\n<li><strong>\u4eee\u60f3\u74b0\u5883\uff1a<span>\u00a0<\/span><\/strong>WSL2<\/li>\n<li><strong>\u4eee\u60f3\u74b0\u5883\u4e0a\u306eOS\uff1a<span>\u00a0<\/span><\/strong>Ubuntu 20.04<\/li>\n<li><strong>ROS\u30d0\u30fc\u30b8\u30e7\u30f3\uff1a<span>\u00a0<\/span><\/strong>ROS noetic (ros-noetic-desktop-full)<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h4>4. \u307e\u305a\u306f\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3067\u52d5\u304b\u3057\u3066\u307f\u3088\u3046<\/h4>\n<p><a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/go1-low-level-sim.html\" target=\"_blank\" rel=\"noopener\">\u524d\u4f5c<\/a>\u306e\u300c3.1 WSL2\u304a\u3088\u3073ROS\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u300d\u4ee5\u964d\u306e\u624b\u9806\u306b\u5f93\u3063\u3066\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4e0a\u3067Low level\u5236\u5fa1\u3067\u30ed\u30dc\u30c3\u30c8\u3092\u52d5\u304b\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/go1-sim-e1691533387223.png\" alt=\"\" width=\"734\" height=\"374\" class=\"alignnone wp-image-345037 size-full\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/go1-sim-e1691533387223.png 734w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/go1-sim-e1691533387223-300x153.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/go1-sim-e1691533387223-393x200.png 393w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/go1-sim-e1691533387223-426x217.png 426w\" sizes=\"auto, (max-width: 734px) 100vw, 734px\" \/><\/p>\n<p>\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4e0a\u3067\u52d5\u304f\u3053\u3068\u304c\u78ba\u8a8d\u3067\u304d\u305f\u3089\u3001\u4ee5\u964d\u306e\u624b\u9806\u306b\u5f93\u3063\u3066\u3001\u30ea\u30a2\u30eb\u306a\u30ed\u30dc\u30c3\u30c8\u3092\u52d5\u304b\u3059\u305f\u3081\u306e\u8a2d\u5b9a\u5909\u66f4\u3092\u884c\u3044\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h4>5. \u30ea\u30a2\u30eb\u52d5\u4f5c\u306b\u5207\u308a\u66ff\u3048\u308b\u305f\u3081\u306e\u8a2d\u5b9a<\/h4>\n<p>unitree_guide\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u306f\u3001\u5236\u5fa1\u5bfe\u8c61\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4e0a\u306e\u30ed\u30dc\u30c3\u30c8\u306b\u3059\u308b\u304b\u5b9f\u969b\u306e\u30ed\u30dc\u30c3\u30c8\u306b\u3059\u308b\u304b\u3092\u3001\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u3067\u5207\u308a\u66ff\u3048\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>\u305f\u3060\u3057\u3001\u5b9f\u969b\u306e\u30ed\u30dc\u30c3\u30c8\u3092\u5236\u5fa1\u5bfe\u8c61\u306b\u3057\u305f\u5834\u5408\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u624b\u6bb5\u3082\u30ea\u30a2\u30eb\u306a\u3082\u306e\u306b\u7f6e\u304d\u63db\u308f\u3063\u3066\u3001\u30ed\u30dc\u30c3\u30c8\u4ed8\u5c5e\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u3067\u64cd\u4f5c\u3059\u308b\u3053\u3068\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<p>\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4e0a\u3067\u52d5\u304b\u3057\u3066\u3044\u305f\u6642\u3068\u540c\u3058\u3088\u3046\u306b\u3001PC\u304b\u3089\u30ad\u30fc\u30dc\u30fc\u30c9\u64cd\u4f5c\u3067\u30ed\u30dc\u30c3\u30c8\u3092\u64cd\u4f5c\u3057\u305f\u3044\u5834\u5408\u306b\u306f\u3001\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u6570\u884c\u5909\u66f4\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n<p>\u3053\u308c\u3089\u306b\u3064\u3044\u3066\u4ee5\u964d\u3067\u8aac\u660e\u3057\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h5>5.1 \u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u306e\u5909\u66f4<\/h5>\n<p>\u4ee5\u964d\u3067\u306f\u3001unitree_guide\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u305f\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u3092unitree_ws\u3068\u3057\u307e\u3059\u3002<\/p>\n<p>\u5236\u5fa1\u5bfe\u8c61\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4e0a\u306e\u30ed\u30dc\u30c3\u30c8\u306b\u3059\u308b\u304b\u5b9f\u969b\u306e\u30ed\u30dc\u30c3\u30c8\u306b\u3059\u308b\u304b\u306e\u5207\u308a\u66ff\u3048\u306f\u3001~\/unitree_ws\/src\/unitree_guide\/unitree_guide\/CMakeLists.txt \u306e8\uff5e9\u884c\u76ee\u306b\u8a18\u8ff0\u3055\u308c\u3066\u3044\u308b\u8a2d\u5b9a\u3092\u5909\u66f4\u3059\u308b\u3053\u3068\u3067\u3067\u304d\u307e\u3059\u3002SIMULATION\u304cON\u3067REAL_ROBOT\u304cOFF\u306a\u3089\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4e0a\u306e\u30ed\u30dc\u30c3\u30c8\u3001SIMULATION\u304cOFF\u3067REAL_ROBOT\u304cON\u306a\u3089\u5b9f\u969b\u306e\u30ed\u30dc\u30c3\u30c8\u3067\u3059\u3002<\/p>\n<p><strong>\u3010\u5909\u66f4\u524d\u3011<\/strong><\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-plain\" data-lang=\"Plain Text\"><code>  1    cmake_minimum_required(VERSION 3.14)\r\n  2    project(unitree_guide)\r\n  3    \r\n  4    set(ROBOT_TYPE Go1) # The type of robot, support Go1 and A1 currently\r\n  5    set(PLATFORM amd64) # The platform to compile, support amd64 and arm64\r\n  6    \r\n  7    set(CATKIN_MAKE ON) # Use CATKIN_MAKE or not, ON or OFF\r\n  8    set(SIMULATION ON) # Use Gazebo or not, ON or OFF\r\n  9    set(REAL_ROBOT OFF) # Link real robot or not, ON or OFF\r\n 10    set(DEBUG OFF) # Use debug functions or not, ON or OFF\r\n 11    set(MOVE_BASE OFF) # Need move_base or not, ON or OFF<\/code><\/pre>\n<\/div>\n<p>&nbsp;<\/p>\n<p><strong>\u3010\u5909\u66f4\u5f8c\u3011<\/strong><\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-plain\" data-lang=\"Plain Text\"><code>  1    cmake_minimum_required(VERSION 3.14)\r\n  2    project(unitree_guide)\r\n  3    \r\n  4    set(ROBOT_TYPE Go1) # The type of robot, support Go1 and A1 currently\r\n  5    set(PLATFORM amd64) # The platform to compile, support amd64 and arm64\r\n  6    \r\n  7    set(CATKIN_MAKE ON) # Use CATKIN_MAKE or not, ON or OFF\r\n  8    set(SIMULATION <span style=\"color: #ff0000;\">OFF<\/span>) # Use Gazebo or not, ON or OFF\r\n  9    set(REAL_ROBOT <span style=\"color: #ff0000;\">ON<\/span>) # Link real robot or not, ON or OFF\r\n 10    set(DEBUG OFF) # Use debug functions or not, ON or OFF\r\n 11    set(MOVE_BASE OFF) # Need move_base or not, ON or OFF<\/code><\/pre>\n<\/div>\n<p>&nbsp;<\/p>\n<h5>5.2 \u30ad\u30fc\u30dc\u30fc\u30c9\u5165\u529b\u306b\u5909\u66f4<\/h5>\n<p>\u524d\u8ff0\u306e\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u306e\u5909\u66f4\u306b\u3088\u308a\u5236\u5fa1\u5bfe\u8c61\u3092\u5b9f\u969b\u306e\u30ed\u30dc\u30c3\u30c8\u306b\u5207\u308a\u66ff\u3048\u308b\u3068\u3001\u5165\u51fa\u529b\u3092\u53f8\u308b\u30d7\u30ed\u30b0\u30e9\u30e0\u304c ~\/unitree_ws\/src\/unitree_guide\/unitree_guide\/src\/interface\/IOROS.cpp \u304b\u3089 ~\/unitree_ws\/src\/unitree_guide\/unitree_guide\/src\/interface\/IOSDK.cpp \u306b\u5207\u308a\u66ff\u308f\u308a\u307e\u3059\u3002<\/p>\n<p>\u3053\u308c\u306b\u3088\u308a\u3001Low level API\u306e\u51fa\u529b\u5148\u304c\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3068\u306eROS\u901a\u4fe1\u304b\u3089\u5b9f\u969b\u306e\u30ed\u30dc\u30c3\u30c8\u3068\u306eUDP\u901a\u4fe1\u306b\u7f6e\u304d\u63db\u308f\u308b\u3068\u540c\u6642\u306b\u3001\u30ed\u30dc\u30c3\u30c8\u64cd\u4f5c\u306e\u8aad\u307f\u53d6\u308a\u5148\u3082\u3001PC\u306e\u30ad\u30fc\u30dc\u30fc\u30c9\u304b\u3089\u30ed\u30dc\u30c3\u30c8\u4ed8\u5c5e\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306b\u5207\u308a\u66ff\u308f\u308a\u307e\u3059\u3002\u30ed\u30dc\u30c3\u30c8\u4ed8\u5c5e\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306e\u5024\u306f\u3001\u30ed\u30dc\u30c3\u30c8\u3092\u7d4c\u7531\u3057\u3066Low level API\u304b\u3089\u53d6\u5f97\u3067\u304d\u3001\u3053\u306e\u5024\u306b\u5fdc\u3058\u3066\u30ed\u30dc\u30c3\u30c8\u306e\u64cd\u4f5c\u304c\u6c7a\u5b9a\u3055\u308c\u307e\u3059\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/2a831ec055ed4fee4e1d0936ea40500d-1024x576.png\" alt=\"\" width=\"993\" height=\"559\" class=\"alignnone wp-image-345038 size-large\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/2a831ec055ed4fee4e1d0936ea40500d-1024x576.png 1024w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/2a831ec055ed4fee4e1d0936ea40500d-300x169.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/2a831ec055ed4fee4e1d0936ea40500d-768x432.png 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/2a831ec055ed4fee4e1d0936ea40500d-356x200.png 356w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/2a831ec055ed4fee4e1d0936ea40500d-426x240.png 426w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/2a831ec055ed4fee4e1d0936ea40500d-128x72.png 128w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/2a831ec055ed4fee4e1d0936ea40500d.png 1280w\" sizes=\"auto, (max-width: 993px) 100vw, 993px\" \/><\/p>\n<p>&nbsp;<\/p>\n<p>Low level API\u306e\u51fa\u529b\u5148\u306f\u5b9f\u969b\u306e\u30ed\u30dc\u30c3\u30c8\u306e\u307e\u307e\u3067\u3001\u64cd\u4f5c\u306e\u5165\u529b\u3092\u30ad\u30fc\u30dc\u30fc\u30c9\u304b\u3089\u884c\u3046\u3088\u3046\u306b\u3059\u308b\u306b\u306f\u3001IOSDK.cpp\u3092\u6b21\u306e\u3088\u3046\u306b\u5909\u66f4\u3057\u307e\u3059\u3002<\/p>\n<p>(8\u884c\u76ee\u306b\u8ffd\u52a0\u3057\u3001\u3082\u3068\u306e14\u884c\u76ee\u3092\u5909\u66f4)<\/p>\n<p><strong>\u3010\u5909\u66f4\u524d\u3011<\/strong><\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-cpp\" data-lang=\"C++\"><code>  1    \/**********************************************************************\r\n  2     Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.\r\n  3    ***********************************************************************\/\r\n  4    #ifdef COMPILE_WITH_REAL_ROBOT\r\n  5    \r\n  6    #include \"interface\/IOSDK.h\"\r\n  7    #include \"interface\/WirelessHandle.h\"\r\n  8    #include &lt;stdio.h&gt;\r\n  9    \r\n 10    #ifdef ROBOT_TYPE_Go1\r\n 11    IOSDK::IOSDK():_safe(UNITREE_LEGGED_SDK::LeggedType::Aliengo), _udp(UNITREE_LEGGED_SDK::LOWLEVEL, 8090, \"192.168.123.10\", 8007){\r\n 12        std::cout &lt;&lt; \"The control interface for real robot\" &lt;&lt; std::endl;\r\n 13        _udp.InitCmdData(_lowCmd);\r\n 14        cmdPanel = new WirelessHandle();<\/code><\/pre>\n<\/div>\n<p>&nbsp;<\/p>\n<p><strong>\u3010\u5909\u66f4\u5f8c\u3011<\/strong><\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-cpp\" data-lang=\"C++\"><code>  1    \/**********************************************************************\r\n  2     Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.\r\n  3    ***********************************************************************\/\r\n  4    #ifdef COMPILE_WITH_REAL_ROBOT\r\n  5    \r\n  6    #include \"interface\/IOSDK.h\"\r\n <span style=\"color: #000000;\"> 7    #include \"interface\/WirelessHandle.h\"<\/span>\r\n  8    <span style=\"color: #ff0000;\">#include \"interface\/KeyBoard.h\"\u00a0 \u00a0\/*\u8ffd\u52a0*\/<\/span>\r\n  9    \r\n 10    #include &lt;stdio.h&gt;\r\n 11    #ifdef ROBOT_TYPE_Go1\r\n 12    IOSDK::IOSDK():_safe(UNITREE_LEGGED_SDK::LeggedType::Aliengo), _udp(UNITREE_LEGGED_SDK::LOWLEVEL, 8090, \"192.168.123.10\", 8007){\r\n 13        std::cout &lt;&lt; \"The control interface for real robot\" &lt;&lt; std::endl;\r\n 14        _udp.InitCmdData(_lowCmd);\r\n 15        cmdPanel = new <span style=\"color: #ff0000;\">KeyBoard();\u00a0 \/*\u5909\u66f4*\/<\/span><\/code><\/pre>\n<\/div>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/ee3be1d100caf1aa771552d59c2bd436-1024x576.png\" alt=\"\" width=\"993\" height=\"559\" class=\"alignnone wp-image-345039 size-large\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/ee3be1d100caf1aa771552d59c2bd436-1024x576.png 1024w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/ee3be1d100caf1aa771552d59c2bd436-300x169.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/ee3be1d100caf1aa771552d59c2bd436-768x432.png 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/ee3be1d100caf1aa771552d59c2bd436-356x200.png 356w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/ee3be1d100caf1aa771552d59c2bd436-426x240.png 426w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/ee3be1d100caf1aa771552d59c2bd436-128x72.png 128w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/ee3be1d100caf1aa771552d59c2bd436.png 1280w\" sizes=\"auto, (max-width: 993px) 100vw, 993px\" \/><\/p>\n<p>&nbsp;<\/p>\n<h5>5.3 PC\u306eIP\u30a2\u30c9\u30ec\u30b9\u306e\u8a2d\u5b9a<\/h5>\n<p>Go1\u5185\u90e8\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u3078UDP\u901a\u4fe1\u3059\u308b\u305f\u3081\u306b\u306f\u3001unitree_guide\u3092\u5b9f\u884c\u3059\u308bPC\u306e\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u30a2\u30c9\u30ec\u30b9\u3092\u3001Go1\u5185\u90e8\u306e\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u3068\u540c\u3058\u30a2\u30c9\u30ec\u30b9\u4f53\u7cfb(192.168.123.x)\u306b\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n<p>\u4eca\u56de\u306f\u3001unitree_guide\u3092\u5b9f\u884c\u3059\u308bPC\u3068Go1\u3068\u3092\u3001LAN\u30b1\u30fc\u30d6\u30eb\u3067\u3064\u306a\u3050\u3053\u3068\u306b\u3057\u307e\u3059\u3002\u305d\u306e\u305f\u3081\u3001PC\u306eLAN\u30a4\u30f3\u30bf\u30d5\u30a7\u30fc\u30b9\u306e\u30a2\u30c9\u30ec\u30b9\u306b\u3001\u56fa\u5b9a\u30a2\u30c9\u30ec\u30b9\u5024\u3092\u8a2d\u5b9a (\u3053\u3053\u3067\u306f192.168.123.20 \u3092\u8a2d\u5b9a) \u3057\u307e\u3059\u3002<\/p>\n<p>\u56fa\u5b9a\u30a2\u30c9\u30ec\u30b9\u306e\u8a2d\u5b9a\u65b9\u6cd5\u306f\u3001\u95a2\u9023\u8a18\u4e8b\u300c<a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/go1_install_lcm.html\" target=\"_blank\" rel=\"noopener\">\u3010Unitree Go1\u3011\u5916\u90e8PC\u4e0a\u3067unitree_legged_sdk\u3092\u5b9f\u884c\u3059\u308b\u65b9\u6cd5<\/a>\u300d\u306e\u300c\uff12\uff0eunitree_legged_sdk\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9&amp;\u5b9f\u884c\uff08\u6709\u7dda\u63a5\u7d9a\uff09\u300d\u306e\u300c\u305d\u306e\u5f8c\u3001\u5916\u90e8PC\u3067\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u8a2d\u5b9a\u3092\u884c\u3044\u307e\u3059\uff1a\u300d\u4ee5\u964d\u306e\u624b\u9806\u3092\u53c2\u7167\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>&nbsp;<\/p>\n<h4>6. Go1\u306e\u8d77\u52d5<\/h4>\n<p>\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u7b49\u306e\u5909\u66f4\u304c\u5b8c\u4e86\u3057\u305f\u3089\u3001\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u76f4\u4e0b\u3067catkin_make\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-bash\" data-lang=\"Bash\"><code>cd ~\/unitree_ws\r\ncatkin_make<\/code><\/pre>\n<\/div>\n<p>\u30a8\u30e9\u30fc\u306a\u304f\u5b8c\u4e86\u3057\u305f\u3089\u3001PC\u3068Go1\u3068\u3092\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u30b1\u30fc\u30d6\u30eb\u3067\u63a5\u7d9a\u3057\u307e\u3057\u3087\u3046\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/5f63f49b6b7d98988e1002a4a4f2d6d5-1024x576.png\" alt=\"\" width=\"993\" height=\"559\" class=\"alignnone wp-image-345040 size-large\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/5f63f49b6b7d98988e1002a4a4f2d6d5-1024x576.png 1024w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/5f63f49b6b7d98988e1002a4a4f2d6d5-300x169.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/5f63f49b6b7d98988e1002a4a4f2d6d5-768x432.png 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/5f63f49b6b7d98988e1002a4a4f2d6d5-356x200.png 356w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/5f63f49b6b7d98988e1002a4a4f2d6d5-426x240.png 426w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/5f63f49b6b7d98988e1002a4a4f2d6d5-128x72.png 128w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/5f63f49b6b7d98988e1002a4a4f2d6d5.png 1280w\" sizes=\"auto, (max-width: 993px) 100vw, 993px\" \/><\/p>\n<p>Go1\u306e\u96fb\u6e90\u3092\u5165\u308c\u30011\uff5e2\u5206\u7a0b\u5ea6\u5f85\u3064\u3068\u3001Go1\u304c\u7acb\u3061\u4e0a\u304c\u308a\u982c\u306eLED\u304c\u70b9\u706f\u3057\u307e\u3059\u3002<\/p>\n<p>\u3053\u308c\u3067Go1\u306f\u8d77\u52d5\u5b8c\u4e86\u3057\u307e\u3057\u305f\u304c\u3001\u5b9f\u306fGo1\u5185\u90e8\u3067\u306f\u59ff\u52e2\u3092\u5236\u5fa1\u3059\u308b\u305f\u3081\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u304c\u52d5\u3044\u3066\u3044\u307e\u3059(\u305d\u306e\u305f\u3081\u7acb\u3061\u4e0a\u304c\u3063\u305f\u59ff\u52e2\u304c\u7dad\u6301\u3067\u304d\u3066\u3044\u307e\u3059)\u3002<\/p>\n<p>\u3053\u306e\u307e\u307e\u3067\u306f\u3001Low level API\u306b\u3088\u308bUDP\u901a\u4fe1\u304c\u5e38\u306b\u884c\u308f\u308c\u305f\u72b6\u614b\u3068\u306a\u3063\u3066\u304a\u308a\u3001\u3053\u308c\u304b\u3089\u52d5\u304b\u305d\u3046\u3068\u3059\u308bLow level\u5236\u5fa1\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u3068\u7af6\u5408\u3057\u3066\u30ed\u30dc\u30c3\u30c8\u306e\u52d5\u304d\u304c\u304a\u304b\u3057\u304f\u306a\u3063\u3066\u3057\u307e\u3044\u307e\u3059\u3002\u305d\u3053\u3067\u3001\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u3092\u4f7f\u3063\u3066\u3001Go1\u5185\u90e8\u3067\u8d77\u52d5\u3057\u3066\u3044\u308b\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u505c\u6b62\u3055\u305b\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n<p>\u305f\u3060\u3057\u3001\u3044\u304d\u306a\u308a\u505c\u6b62\u3055\u305b\u308b\u3068\u3001\u7acb\u3063\u3066\u3044\u308b\u72b6\u614b\u306e\u30ed\u30dc\u30c3\u30c8\u304c\u7a81\u7136\u8131\u529b\u3057\u3066\u3057\u307e\u3046\u305f\u3081\u3001\u30ed\u30dc\u30c3\u30c8\u3092\u4f0f\u305b\u72b6\u614b\u306b\u3057\u3066\u304b\u3089\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u505c\u6b62\u3055\u305b\u307e\u3057\u3087\u3046\u3002<\/p>\n<p>\u5177\u4f53\u7684\u306b\u306f\u3001\u6b21\u306e\u624b\u9806\u3067\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u3092\u64cd\u4f5c\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u3053\u308c\u306b\u3088\u308a\u3001\u30b7\u30e3\u30fc\u3068\u3044\u3046\u30e2\u30fc\u30bf\u97f3\u304c\u306a\u304f\u306a\u308a\u9759\u304b\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-plain\" data-lang=\"Plain Text\"><code>L2-A\r\nL2-A\r\nL2-B\r\nL1-L2-START<\/code><\/pre>\n<\/div>\n<p>&nbsp;<\/p>\n<h4>7. \u52d5\u304b\u3057\u3066\u307f\u3088\u3046\uff01<\/h4>\n<p>\u3044\u3088\u3044\u3088\u3001unitree_guide\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u4f7f\u3063\u3066\u3001Go1\u3092Low level\u5236\u5fa1\u3067\u6b69\u884c\u3055\u305b\u3066\u307f\u307e\u3057\u3087\u3046\u3002<\/p>\n<p>\u5236\u5fa1\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u8d77\u52d5\u65b9\u6cd5\u306f\u3001\u6b21\u306e\u901a\u308a\u3067\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-bash\" data-lang=\"Bash\"><code>cd ~\/unitree_ws\r\nsource devel\/setup.bash\r\n.\/devel\/lib\/unitree_guide\/junior_ctrl<\/code><\/pre>\n<\/div>\n<p>\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u8d77\u52d5\u3057\u305f\u3068\u304d\u306b\u3001\u3082\u3057\u3001\u6b21\u306e\u3088\u3046\u306a\u30a8\u30e9\u30fc\u304c\u51fa\u305f\u5834\u5408\u306b\u306f\u3001\u5236\u5fa1\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u7ba1\u7406\u8005\u6a29\u9650\u3067\u5b9f\u884c\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-plain\" data-lang=\"Plain Text\"><code>[ERROR] Function setProcessScheduler failed.<\/code><\/pre>\n<\/div>\n<p>\u3053\u306e\u30a8\u30e9\u30fc\u3092\u7121\u8996\u3057\u3066\u30ed\u30dc\u30c3\u30c8\u3092\u64cd\u4f5c\u3059\u308b\u3068\u3001\u30ed\u30dc\u30c3\u30c8\u3068\u306eLow level API\u306b\u3088\u308b\u5236\u5fa1\u306b\u9045\u5ef6\u304c\u767a\u751f\u3057\u3066\u3001\u30ed\u30dc\u30c3\u30c8\u306f\u3046\u307e\u304f\u52d5\u304d\u307e\u305b\u3093\u3002ctrl-C\u3067\u5236\u5fa1\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u6b62\u3081\u3001sudo -s\u3067\u7ba1\u7406\u8005(root)\u306e\u30b7\u30a7\u30eb\u3092\u8d77\u3053\u3057\u3066\u304b\u3089\u3001\u518d\u5ea6\u3001\u5236\u5fa1\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u5b9f\u884c\u3059\u308b\u3088\u3046\u306b\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-bash\" data-lang=\"Bash\"><code>sudo -s\r\nsource devel\/setup.bash\r\n.\/devel\/lib\/unitree_guide\/junior_ctrl<\/code><\/pre>\n<\/div>\n<p>&nbsp;<\/p>\n<h5>7.1 \u901a\u5e38\u6b69\u884c<\/h5>\n<p>\u5236\u5fa1\u30d7\u30ed\u30b0\u30e9\u30e0\u304c\u8d77\u52d5\u3057\u305f\u3089\u3001PC\u306e\u30ad\u30fc\u30dc\u30fc\u30c9\u304b\u3089\u6b21\u306e\u30ad\u30fc\u3092\u9806\u756a\u306b\u62bc\u3057\u3066\u3001\u76f4\u9032\u6b69\u884c\u3092\u3055\u305b\u3066\u307f\u307e\u3057\u3087\u3046\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-plain\" data-lang=\"Plain Text\"><code>'2' \u30ad\u30fc\r\n'4' \u30ad\u30fc\r\n'w' \u30ad\u30fc\r\n'w' \u30ad\u30fc<\/code><\/pre>\n<\/div>\n<p>\u6b21\u306e\u52d5\u753b\u306e\u3088\u3046\u306b\u30ed\u30dc\u30c3\u30c8\u304c\u7acb\u3061\u4e0a\u304c\u308a\u3001\u3086\u3063\u304f\u308a\u3068\u524d\u9032\u3092\u59cb\u3081\u307e\u3059\u3002<\/p>\n<p>\u505c\u6b62\u3055\u305b\u308b\u306b\u306f\u30b9\u30da\u30fc\u30b9\u30ad\u30fc\u3092\u62bc\u3057\u307e\u3059\u3002<\/p>\n<div style=\"width: 854px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-345034-1\" width=\"854\" height=\"480\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/go1-low-level-walk-1.mp4?_=1\" \/><a href=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/go1-low-level-walk-1.mp4\">https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/go1-low-level-walk-1.mp4<\/a><\/video><\/div>\n<p>&nbsp;<\/p>\n<p>\u306a\u304a\u3001\u30ad\u30fc\u3068\u52d5\u4f5c\u306e\u5272\u308a\u5f53\u3066\u306f\u6b21\u306e\u901a\u308a\u3067\u3059\u3002<\/p>\n<table width=\"473\" height=\"377\">\n<tbody>\n<tr>\n<td width=\"72\" style=\"text-align: center;\">\u30ad\u30fc<\/td>\n<td colspan=\"2\" width=\"285\" style=\"text-align: center;\">\u52d5\u4f5c<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">&#8216;1&#8217;<\/td>\n<td colspan=\"2\">\u30e2\u30fc\u30bfOFF (L2-B\u76f8\u5f53)<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">&#8216;2&#8217;<\/td>\n<td colspan=\"2\">\u7acb\u3061\u4e0a\u304c\u308a\u9759\u6b62 (L2-A L2-A\u76f8\u5f53)<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">&#8216;4&#8217;<\/td>\n<td colspan=\"2\">\u6b69\u884c\u52d5\u4f5c\u306b\u79fb\u884c (START\u76f8\u5f53)<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">&#8216;w&#8217;<\/td>\n<td>\u524d\u9032<\/td>\n<td rowspan=\"6\">&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>\u30ad\u30fc\u3092\u62bc\u3059\u305f\u3073\u306b\u52a0\u901f<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">&#8216;a&#8217;<\/td>\n<td>\u5de6\u6a2a\u6b69\u304d<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">&#8216;s&#8217;<\/td>\n<td>\u5f8c\u9000<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">&#8216;d&#8217;<\/td>\n<td>\u53f3\u6a2a\u6b69\u304d<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">&#8216;j&#8217;<\/td>\n<td>\u5de6\u65cb\u56de<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">&#8216;l&#8217;<\/td>\n<td>\u53f3\u65cb\u56de<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">&#8216; &#8216;<\/td>\n<td>\u505c\u6b62<\/td>\n<td>\u52d5\u304d\u306e\u5024\u30920\u306b\u30ea\u30bb\u30c3\u30c8\u3059\u308b<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>&nbsp;<\/p>\n<h5>7.2 Crawl\u6b69\u884c<\/h5>\n<p><a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/go1-low-level-sim.html\" target=\"_blank\" rel=\"noopener\">\u524d\u4f5c<\/a>\u3068\u540c\u69d8\u3001main.cpp\u3092\u7de8\u96c6\u3057\u3066\u3001Crawl\u6b69\u884c\u306b\u5207\u308a\u66ff\u3048\u3066\u307f\u307e\u3057\u3087\u3046\u3002\u5909\u66f4\u65b9\u6cd5\u306f\u3001<a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/go1-low-level-sim.html\" target=\"_blank\" rel=\"noopener\">\u524d\u4f5c<\/a>\u306e\u300c4. \u3055\u3042\u3001\u52d5\u304b\u3057\u3066\u307f\u3088\u3046\u300d\u306e\u5f8c\u534a\u3092\u53c2\u7167\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>\u76f4\u9032\u6b69\u884c\u3055\u305b\u305f\u3068\u304d\u306e\u69d8\u5b50\u306f\u6b21\u306e\u52d5\u753b\u306e\u901a\u308a\u3067\u3059\u3002<\/p>\n<p>\u306a\u304a\u3001main.cpp\u306b\u30b3\u30e1\u30f3\u30c8\u3067\u8a18\u8ff0\u3055\u308c\u3066\u3044\u308b\u3088\u3046\u306b\u3001Crawl\u6b69\u884c\u306f\u672c\u6765\u306f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7528\u306e\u6b69\u884c\u30d1\u30bf\u30fc\u30f3\u3067\u3042\u308a\u3001\u5b9f\u969b\u306b\u6b69\u884c\u3055\u305b\u308b\u3068\u8ee2\u5012\u3057\u3084\u3059\u3044\u305f\u3081\u3001\u6ce8\u610f\u3057\u3066\u64cd\u4f5c\u3057\u307e\u3057\u3087\u3046\u3002<\/p>\n<p>&nbsp;<\/p>\n<div style=\"width: 854px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-345034-2\" width=\"854\" height=\"480\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/go1-low-level-walk-2.mp4?_=2\" \/><a href=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/go1-low-level-walk-2.mp4\">https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/08\/go1-low-level-walk-2.mp4<\/a><\/video><\/div>\n<p>&nbsp;<\/p>\n<h4>8. \u7d42\u308f\u308a\u306b<\/h4>\n<p>\u4ee5\u4e0a\u306e\u3088\u3046\u306b\u3001Unitree\u793e\u306egithub\u306b\u63b2\u8f09\u3055\u308c\u3066\u3044\u308b unitree_guide \u3092\u4f7f\u3046\u3053\u3068\u3067\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4e0a\u3067\u3082\u3001\u5b9f\u969b\u306e\u30ed\u30dc\u30c3\u30c8\u3067\u3082\u3001low level\u5236\u5fa1\u306b\u3088\u308b\u6b69\u884c\u304c\u4f53\u9a13\u3067\u304d\u307e\u3059\u3002<\/p>\n<p>\u3053\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u5143\u306b\u3057\u3066\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u884c\u3092\u30ab\u30b9\u30bf\u30de\u30a4\u30ba\u3057\u305f\u308a\u3001\u6a5f\u68b0\u5b66\u7fd2\u306b\u4f7f\u3046\u306a\u3069\u3001\u5fdc\u7528\u3092\u9032\u3081\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>&nbsp;<\/p>\n<p>\u4ee5\u4e0a<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>1. \u306f\u3058\u3081\u306b \u672c\u7a3f\u306f\u3001\u524d\u4f5c\u306e\u8a18\u4e8b\u300cUnitree Go1\u306eLow level\u5236\u5fa1\u304c\u624b\u8efd\u306b\u4f53\u9a13\u3067\u304d\u308b\u30b5\u30f3\u30d7\u30eb\u306e\u7d39\u4ecb\u300d\u306e\u7d9a\u7de8\u3067\u3059\u3002 \u524d\u4f5c\u3067\u306f\u3001Unitree\u793e\u306eGithub\u306b\u3042\u308bunitree_guide\u3068\u3044\u3046\u30ea\u30dd\u30b8\u30c8\u30ea\u3092 &hellip;<\/p>\n","protected":false},"author":6,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[31,26],"tags":[],"class_list":["post-345034","post","type-post","status-publish","format-standard","hentry","category-go1","category-unitree"],"_links":{"self":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345034","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/users\/6"}],"replies":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/comments?post=345034"}],"version-history":[{"count":10,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345034\/revisions"}],"predecessor-version":[{"id":345052,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345034\/revisions\/345052"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=345034"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=345034"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=345034"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}