{"id":345296,"date":"2023-12-28T16:48:08","date_gmt":"2023-12-28T07:48:08","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=345296"},"modified":"2024-03-26T09:43:34","modified_gmt":"2024-03-26T00:43:34","slug":"unitree-go2_unitree_sdk2","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/unitree-go2_unitree_sdk2.html","title":{"rendered":"\u3010Unitree Go2\u3011SDK\u306e\u6982\u8981\u306b\u3064\u3044\u3066\u3010unitree_sdk2\u3011"},"content":{"rendered":"<h3>\u521d\u3081\u306b<\/h3>\n<hr \/>\n<p>Go2 R&#038;D\u304c\u3064\u3044\u306b\u65e5\u672c\u4e0a\u9678\u3057\u307e\u3057\u305f\u3002<br \/>\nSDK\u3082Go1\u306e\u6642\u304b\u3089\u5927\u5e45\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u3057\u3066\u3044\u307e\u3059\u3002<br \/>\n\u672c\u8a18\u4e8b\u3067\u306f\u3001Go2 SDK\u306eexample\u306e\u6982\u7565\u306b\u3064\u3044\u3066\u3054\u6848\u5185\u3057\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\u74b0\u5883<\/h3>\n<hr \/>\n<p>\u74b0\u5883\u306f\u3001\u6b21\u306e\u3088\u3046\u306a\u3082\u306e\u3092\u60f3\u5b9a\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<ul>\n<li>\u6a5f\u7a2e: Go2 <strong>R&amp;D(Edu), R&amp;D+(Edu+)<\/strong>\uff08AIR\/PRO\u3067\u306f\u306a\u3044\u3082\u306e\uff09<\/li>\n<li>\u5b9f\u884c\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\uff1aubuntu20<\/li>\n<\/ul>\n<p>\u203b\u672c\u8a18\u4e8b\u306f23\/12\/28\u6642\u70b9\u3067\u306e\u3082\u306e\u3067\u3059\u3002SDK\u306f\u4e88\u671f\u305b\u306c\u30bf\u30a4\u30df\u30f3\u30b0\u3067\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u3055\u308c\u308b\u3053\u3068\u304c\u3054\u3056\u3044\u307e\u3059\u3002<br \/>\nhttps:\/\/github.com\/unitreerobotics\/unitree_sdk2\/<\/p>\n<p>&nbsp;<\/p>\n<h3>\uff11\uff0e\u74b0\u5883\u8a2d\u5b9a<\/h3>\n<hr \/>\n<p>Go2\u306e\u80cc\u4e2d\u306eOrin\u3082\u3057\u304f\u306f\u3001LAN\u30b1\u30fc\u30d6\u30eb\u3067\u63a5\u7d9a\u3057\u305f\u5916\u90e8PC\u3067\u74b0\u5883\u8a2d\u5b9a\u3057\u307e\u3059\u3002<br \/>\n\u5177\u4f53\u7684\u306a\u8a2d\u5b9a\u65b9\u6cd5\u306b\u3064\u3044\u3066\u306f\u4e0b\u8a18\u306e\u8a18\u4e8b\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\uff1a<\/p>\n<ul>\n<li>Docking Station\u3067\u306eSDK or ROS2\u3092\u4f7f\u3046\uff08\u4f5c\u6210\u4e88\u5b9a\uff09<\/li>\n<li>\u5916\u90e8PC\u3067\u306eSDK or ROS2\u3092\u4f7f\u3046\uff08\u4f5c\u6210\u4e88\u5b9a\uff09<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>\uff12\uff0eSDK\u3092\u4f7f\u3063\u3066\u307f\u308b<\/h3>\n<hr \/>\n<h5>2-1. SDK\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210<\/h5>\n<p>SDK\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3068\u3057\u3066\u306f\u3001example\u30d5\u30a9\u30eb\u30c0\u5185\u306b\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u304c\u542b\u307e\u308c\u3066\u304a\u308a\u3001\u305d\u308c\u305e\u308c\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u5bfe\u5fdc\u95a2\u4fc2\u306b\u306a\u308a\u307e\u3059\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/12\/unitree_sdk2_example_build.png\" alt=\"\" width=\"100%\" \/><\/p>\n<h5>2-2. \u305d\u308c\u305e\u308c\u306eexample\u306e\u6982\u8981<\/h5>\n<style>\n    .table {\n        width: 100%;\n        border-collapse: collapse;\n        background-color: #f0f8ff; \/* Lighter blue background *\/\n        font-size: 0.8em; \/* Smaller font size for the entire table *\/\n    }\n    .table, th, td {\n        border: 1px solid black;\n        padding: 8px;\n        text-align: left;\n    }\n    .table-striped tbody tr:nth-of-type(odd) {\n        background-color: #e6f2ff; \/* Slightly darker blue for striped rows *\/\n    }\n    th {\n        background-color: #d9e6f2; \/* Even darker blue for header *\/\n    }\n    .scrollable {\n        overflow-x: auto;\n    }\n<\/style>\n<div class='scrollable'>\n<table border=\"0\" class=\"dataframe table table-striped\">\n<thead>\n<tr style=\"text-align: right;\">\n<th>example\u540d<\/th>\n<th style=\"width: 80px;\">Robot\u304c\u52d5\u304f\u304b<\/th>\n<th>High or Low<\/th>\n<th>\u5099\u8003<\/th>\n<th>\u53c2\u8003\u30ea\u30f3\u30af<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>test_publisher<\/td>\n<td>\u52d5\u304b\u306a\u3044<\/td>\n<td>&#8211;<\/td>\n<td>DDS\u30c8\u30d4\u30c3\u30af\u306e\u9001\u4fe1\u30b5\u30f3\u30d7\u30eb<\/td>\n<td><a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/DDS_services\">DDS_services<\/a><\/td>\n<\/tr>\n<tr>\n<td>test_subscriber<\/td>\n<td>\u52d5\u304b\u306a\u3044<\/td>\n<td>&#8211;<\/td>\n<td>DDS\u30c8\u30d4\u30c3\u30af\u306e\u53d7\u4fe1\u30b5\u30f3\u30d7\u30eb<\/td>\n<td><a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/DDS_services\">DDS_services<\/a><\/td>\n<\/tr>\n<tr>\n<td>high_follow_sin<\/td>\n<td>\u52d5\u304f<\/td>\n<td>High Level<\/td>\n<td>Path\u8ffd\u5f93<\/td>\n<td><a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/sports_services\">sports_services<\/a><\/td>\n<\/tr>\n<tr>\n<td>sportmode_test<\/td>\n<td>\u52d5\u304f<\/td>\n<td>High Level<\/td>\n<td>Path\u8ffd\u5f93(\u4ed6\u306e\u52d5\u304d\u306e\u5b9f\u88c5\u3082\u3042\u308a)<\/td>\n<td><a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/High_motion_control\">High_motion_control<\/a><\/td>\n<\/tr>\n<tr>\n<td>low_level<\/td>\n<td>\u52d5\u304f<\/td>\n<td>Low Level<\/td>\n<td>Low Level\u306e\u4f8b<\/td>\n<td><a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/Basic_services\">Basic_services<\/a><\/td>\n<\/tr>\n<tr>\n<td>wireless<\/td>\n<td>\u52d5\u304f<\/td>\n<td>&#8211;<\/td>\n<td>Joystick\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u3092Joystick\u3092\u4f7f\u308f\u305a\u306b\u884c\u3046(DDS\u30c8\u30d4\u30c3\u30afrt\/wirelesscontroller\u306e\u914d\u4fe1)<\/td>\n<td><a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/Get_remote_control_status\">Get_remote_control_status<\/a><\/td>\n<\/tr>\n<tr>\n<td>advanced_gamepad<\/td>\n<td>\u52d5\u304b\u306a\u3044<\/td>\n<td>&#8211;<\/td>\n<td>Joystick\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u306e\u6570\u5024\u306e\u8aad\u307f\u53d6\u308a(DDS\u30c8\u30d4\u30c3\u30afrt\/wirelesscontroller\u306e\u53d7\u4fe1)<\/td>\n<td><a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/Get_remote_control_status\">Get_remote_control_status<\/a><\/td>\n<\/tr>\n<tr>\n<td>state_machine_example<\/td>\n<td>\u52d5\u304b\u306a\u3044<\/td>\n<td>&#8211;<\/td>\n<td>$ .\/state_machine_example \u2013param ..\/example\/state_machine\/params\/ \u3067\u4f7f\u7528\u53ef\u80fd\u3002Robot\u306eSTATES\u3092\u3001joystick\u306b\u5fdc\u3058\u3066\u5909\u66f4\u3059\u308b\u3002\u305d\u306e\u4ed6Robot\u306e\u72b6\u614b\u306e\u8aad\u307f\u53d6\u308a\u7b49<\/td>\n<td><a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/Basic_services\">Basic_services<\/a><\/td>\n<\/tr>\n<tr>\n<td>test_jsonize<\/td>\n<td>\u52d5\u304b\u306a\u3044<\/td>\n<td>&#8211;<\/td>\n<td>Json\u306e\u4f7f\u3044\u65b9\u30b5\u30f3\u30d7\u30eb<\/td>\n<td><\/td>\n<\/tr>\n<tr>\n<td>robot_state_client_example<\/td>\n<td>\u52d5\u304f<\/td>\n<td>High Level<\/td>\n<td>\u30ed\u30dc\u30c3\u30c8\u306e\u72b6\u614b\u306e\u53d6\u5f97<\/td>\n<td><a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/RobotStateClient\">RobotStateClient<\/a><\/td>\n<\/tr>\n<tr>\n<td>sport_client_example<\/td>\n<td>\u52d5\u304f<\/td>\n<td>High Level<\/td>\n<td>\u901f\u5ea6\u6307\u5b9a\u3067\u306e\u30b7\u30f3\u30d7\u30eb\u306aHigh Level\u5236\u5fa1\u3002\u95a2\u7bc0\u30ed\u30c3\u30af\u72b6\u614b\u3060\u3068\u52d5\u304b\u306a\u3044\u305f\u3081\u3001joystick\u64cd\u4f5c\u3057\u305f\u3089\u52d5\u304f\u3088\u3046\u306a\u72b6\u614b\u306b\u306a\u3063\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304b\u3089\u884c\u3046\u3002\u524d\u65b9\u65b9\u5411\u306b0.5m\/s\u3067\u9032\u307f\u7d9a\u3051\u308b\u3002ctrl+c\u3067\u6b62\u3081\u308b<\/td>\n<td><a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/DDS_communication\">DDS_communication<\/a>\u3000<a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/sports_services\">sports_services<\/a><\/td>\n<\/tr>\n<tr>\n<td>video_client_example<\/td>\n<td>\u52d5\u304b\u306a\u3044<\/td>\n<td>High Level<\/td>\n<td>\u5185\u90e8\u30d8\u30c3\u30c9\u30ab\u30e1\u30e9\u753b\u50cf\u306e\u53d6\u5f97\/\u4fdd\u5b58<\/td>\n<td><a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/Multimedia_Services\">Multimedia_Services<\/a><\/td>\n<\/tr>\n<tr>\n<td>vui_client_example<\/td>\n<td>\u52d5\u304b\u306a\u3044<\/td>\n<td>High Level<\/td>\n<td>\u5185\u90e8\u30d8\u30c3\u30c9\u30e9\u30a4\u30c8\u3078\u306e\u6307\u4ee4<\/td>\n<td><a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/VuiClient\">VuiClient<\/a>\u3000<a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/Light_control\">Light_control<\/a><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n<h5>2-3. SDK\u306e\u6982\u8aac<\/h5>\n<p>sdk\u304c\u4e00\u65b0\u3055\u308c\u3001Go1\u306b\u6bd4\u3079\u3066\u6a5f\u80fd\u304c\u5145\u5b9f\u3057\u3066\u3044\u307e\u3059\u3002<br \/>\n\u7279\u306bGo1\u307e\u3067\u3067\u306f\u5b9f\u88c5\u3055\u308c\u306a\u304b\u3063\u305f\u3001SDK\u3092\u7528\u3044\u305f\u982d\u90e8LED\u306e\u6307\u4ee4\u3084\u30ab\u30e1\u30e9\u753b\u50cf\u306e\u53d6\u5f97\u3001path\u8ffd\u5f93\u304c\u53ef\u80fd\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002\u307e\u305fexample\u306b\u306f\u3042\u308a\u307e\u305b\u3093\u304c\u3001lidar\u306e\u60c5\u5831\u53d6\u5f97\u3082\u884c\u3048\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3057\u305f\u3002\uff08<a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/LiDAR_service\">LiDAR_service<\/a>\uff09<\/p>\n<p>Go1\u3068\u540c\u3058\u3088\u3046\u306a\u30a4\u30e1\u30fc\u30b8\u3067\u4f7f\u3044\u305f\u3044\u5834\u5408\u306f\u3001sport_client_example\u304c\u305d\u308c\u306b\u5f53\u305f\u308a\u307e\u3059\u3002IMU\u306e\u60c5\u5831\u306a\u3069Robot\u306e\u72b6\u614b\u306e\u53d7\u4fe1\u306b\u3064\u3044\u3066\u306f\u3001Go1\u306e\u6642\u306b\u306f\u3042\u3063\u305fHighState\u3068\u3044\u3046\u3082\u306e\u306f\u306a\u304f\u306a\u308aSportModeState(rt\/sportmodestate)\u3082\u3057\u304f\u306fLowState(rt\/lowstate)\u304b\u3089\u53d6\u5f97\u53ef\u80fd\u3067\u3059\u3002<br \/>\n\u7279\u306b\u30a4\u30f3\u30af\u30eb\u30fc\u30c9\u30d5\u30a1\u30a4\u30eb<a href=\"https:\/\/github.com\/unitreerobotics\/unitree_sdk2\/blob\/main\/include\/unitree\/robot\/go2\/sport\/sport_client.hpp\">go2\/sport\/sport_client.hpp<\/a>\u3084\u3001\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8<a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/sports_services\">sports_services<\/a>\u3092\u53c2\u8003\u306b\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\u304a\u308f\u308a\u306b<\/h3>\n<p>Go2\u306eSDK\u306eexample\u3092\u4e00\u901a\u308a\u898b\u3066\u304d\u307e\u3057\u305f\u3002<br \/>\n\u3053\u306e\u8a18\u4e8b\u304c\u5c11\u3057\u3067\u3082\u5f79\u306b\u7acb\u3066\u305f\u306e\u306a\u3089\u5e78\u3044\u3067\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u521d\u3081\u306b Go2 R&#038;D\u304c\u3064\u3044\u306b\u65e5\u672c\u4e0a\u9678\u3057\u307e\u3057\u305f\u3002 SDK\u3082Go1\u306e\u6642\u304b\u3089\u5927\u5e45\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u3057\u3066\u3044\u307e\u3059\u3002 \u672c\u8a18\u4e8b\u3067\u306f\u3001Go2 SDK\u306eexample\u306e\u6982\u7565\u306b\u3064\u3044\u3066\u3054\u6848\u5185\u3057\u307e\u3059\u3002 &nbsp; \u74b0\u5883 \u74b0\u5883\u306f\u3001\u6b21\u306e\u3088\u3046 &hellip;<\/p>\n","protected":false},"author":15,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[72,26],"tags":[],"class_list":["post-345296","post","type-post","status-publish","format-standard","hentry","category-go2","category-unitree"],"_links":{"self":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345296","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\/15"}],"replies":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/comments?post=345296"}],"version-history":[{"count":25,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345296\/revisions"}],"predecessor-version":[{"id":345722,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345296\/revisions\/345722"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=345296"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=345296"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=345296"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}