{"id":347121,"date":"2025-04-03T09:50:28","date_gmt":"2025-04-03T00:50:28","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=347121"},"modified":"2025-04-03T09:53:34","modified_gmt":"2025-04-03T00:53:34","slug":"unitree_go2_switch_low_high_level","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/unitree_go2_switch_low_high_level.html","title":{"rendered":"\u3010Unitree Go2\u3011Low Level \/ High Level\u5236\u5fa1\u306e\u5207\u308a\u66ff\u3048\u306b\u3064\u3044\u3066"},"content":{"rendered":"<h3>\u521d\u3081\u306b<\/h3>\n<hr \/>\n<p>\n  \u672c\u8a18\u4e8b\u3067\u306f\u3001Go2\u306b\u304a\u3051\u308bLow Level\u5236\u5fa1\u3068High Level\u5236\u5fa1\u306e\u5207\u308a\u66ff\u3048\u65b9\u6cd5\u306b\u3064\u3044\u3066\u3054\u6848\u5185\u3057\u307e\u3059\u3002<br \/>\n  \u6700\u7d42\u66f4\u65b0\u65e5\uff1a25\/4\/1<br \/>\n  \uff08Software Update\u306b\u3088\u308a\u3001\u672c\u8a18\u4e8b\u306e\u5185\u5bb9\u304c\u53e4\u304f\u306a\u308b\u53ef\u80fd\u6027\u304c\u3054\u3056\u3044\u307e\u3059\uff09\n<\/p>\n<hr \/>\n<h3>\u74b0\u5883<\/h3>\n<hr \/>\n<p>\u5bfe\u8c61\u6a5f\u7a2e\u304a\u3088\u3073\u74b0\u5883\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3067\u3059\u3002<\/p>\n<ul>\n<li><strong>\u6a5f\u7a2e:<\/strong> Go2 <strong>R&amp;D(Edu), R&amp;D+(Edu+)<\/strong>\uff08AIR\/PRO\u3067\u306f\u306a\u3044\u3082\u306e\uff09<\/li>\n<li><strong>Docking Station:<\/strong> ubuntu20 \/ ROS2 foxy \uff08Orin Nano\/NX\u3069\u3061\u3089\u3067\u3082\u53ef\u3002\u5916\u90e8PC\u3067\u3082\u53ef\uff09<\/li>\n<\/ul>\n<hr \/>\n<h3>1. LOW LEVEL\u5236\u5fa1\u3068HIGH LEVEL\u5236\u5fa1\u306e\u57fa\u672c\u6982\u5ff5<\/h3>\n<hr \/>\n<h5>1-1. Low Level\u5236\u5fa1\u3068\u306f<\/h5>\n<ul>\n<li>\n    <strong>\u76f4\u63a5\u7684\u306a\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2\u5236\u5fa1<\/strong><br \/>\n    \u30ed\u30dc\u30c3\u30c8\u306e\u5404\u30e2\u30fc\u30bf\u30fc12\u500b\u3078\u76f4\u63a5\u6307\u4ee4\u3092\u9001\u308a\u3001\u7d30\u304b\u3044\u52d5\u4f5c\u5236\u5fa1\u3092\u884c\u3044\u307e\u3059\u3002\n  <\/li>\n<li>\n    <strong>\u30e1\u30ea\u30c3\u30c8<\/strong><br \/>\n    \u9ad8\u7cbe\u5ea6\u306a\u5236\u5fa1\u304c\u53ef\u80fd\u3067\u3001\u72ec\u81ea\u306b\u6b69\u5bb9\u3092\u4f5c\u6210\u3059\u308b\u969b\u306b\u9069\u3057\u3066\u3044\u307e\u3059\u3002\n  <\/li>\n<li>\n    <strong>\u6ce8\u610f\u70b9<\/strong><br \/>\n    \u4e00\u5ea6Low Level\u5236\u5fa1\u304c\u958b\u59cb\u3059\u308b\u3068\u3001High Level\u5236\u5fa1\uff08\u4f8b\uff1a\u30b9\u30de\u30db\u30a2\u30d7\u30ea\u3084JoyStick\u304b\u3089\u306e\u6307\u4ee4\uff09\u306f\u7121\u52b9\u5316\u3055\u308c\u307e\u3059\u3002<br \/>\n    \u306a\u304a\u3001\u516c\u5f0fDocs\u306b\u8a18\u8f09\u306e\u3042\u308b<strong>basic mode<\/strong>\u306f\u3001Low Level, High Level\u3069\u3061\u3089\u306e\u30b1\u30fc\u30b9\u3067\u3082\u5e38\u306b\u8d77\u52d5\u3057\u3066\u304a\u308a\u3001<strong>sport_mode<\/strong>\u306fLow Level\u5236\u5fa1\u6642\u306b\u306fOff\u306b\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\n  <\/li>\n<\/ul>\n<h5>1-2. High Level\u5236\u5fa1\u3068\u306f<\/h5>\n<ul>\n<li>\n    <strong>\u62bd\u8c61\u7684\u306a\u5236\u5fa1\u6307\u4ee4<\/strong><br \/>\n    \u901f\u5ea6\u6307\u4ee4\u5024\u3084\u30e6\u30fc\u30b6\u30fc\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\uff08\u30b9\u30de\u30db\u30a2\u30d7\u30ea\u3001JoyStick\u306a\u3069\uff09\u304b\u3089\u3001\u5168\u4f53\u306e\u52d5\u4f5c\u3092\u6307\u793a\u3057\u307e\u3059\u3002\u7279\u306bSDK\u304b\u3089\u306f\u3001\u524d\u5f8c\u65b9\u5411\u306b<strong> \u25cb\u25cb [m\/s] <\/strong>, \u6a2a\u65b9\u5411\u306b<strong> \u25cb\u25cb [m\/s] <\/strong>\u3001\u53cd\u6642\u8a08\u56de\u308a\u306b<strong> \u25cb\u25cb [rad\/s] <\/strong>\u3068\u6307\u4ee4\u3092\u4e0e\u3048\u308b\u3053\u3068\u3082\u3067\u304d\u307e\u3059\u3002\n  <\/li>\n<li>\n    <strong>\u30e1\u30ea\u30c3\u30c8<\/strong><br \/>\n    \u76f4\u611f\u7684\u306a\u64cd\u4f5c\u304c\u53ef\u80fd\u3067\u3001Unitree\u306e\u9ad8\u3044\u904b\u52d5\u6027\u80fd\u3092\u6301\u3064\u6b69\u5bb9\u3092\u305d\u306e\u307e\u307e\u4f7f\u7528\u3059\u308b\u969b\u306b\u9069\u3057\u3066\u3044\u307e\u3059\u3002\n  <\/li>\n<li>\n    <strong>\u6ce8\u610f\u70b9<\/strong><br \/>\n    High Level\u5236\u5fa1\u304c\u6709\u52b9\u306b\u306a\u308b\u305f\u3081\u306b\u306f\u3001\u5c02\u7528\u306e\u30b5\u30fc\u30d3\u30b9\uff08sport_mode\uff09\u304c\u6b63\u3057\u304f\u8d77\u52d5\u3057\u3066\u3044\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<br \/>\n    \u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u306f\u3001Go2\u8d77\u52d5\u5f8c\u306b\u5c02\u7528\u30b5\u30fc\u30d3\u30b9\uff08sport_mode\uff09\u304c\u81ea\u52d5\u8d77\u52d5\u3057\u3001Go2\u672c\u4f53\u304c\u7acb\u3061\u4e0a\u304c\u308a\u307e\u3059\u3002\n  <\/li>\n<\/ul>\n<hr \/>\n<h3>2. \u5236\u5fa1\u5207\u308a\u66ff\u3048\u624b\u6cd5<\/h3>\n<p>\u5207\u308a\u66ff\u3048\u306b\u306f\u3001MotionSwitcherClient\u304a\u3088\u3073RobotStateClient\u306e2\u7a2e\u985e\u306e\u65b9\u6cd5\u304c\u7528\u610f\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u3001\u5404\u624b\u6cd5\u306b\u3064\u3044\u3066\u500b\u5225\u306b\u8aac\u660e\u3057\u307e\u3059\u3002<\/p>\n<h5>2-1. MotionSwitcherClient\u3092\u7528\u3044\u305f\u5207\u308a\u66ff\u3048\u65b9\u6cd5<\/h5>\n<ul>\n<li>\n    <strong>\u6982\u8981<\/strong><br \/>\n    MotionSwitcherClient\u306eReleaseMode\u3092\u4f7f\u7528\u3057\u3066\u5207\u308a\u66ff\u3048\u3092\u884c\u3046\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u3053\u308c\u3092\u7528\u3044\u308b\u3068\u3001High Level\u5236\u5fa1\u3092\u7121\u52b9\u306b\u3057\u3001Low Level\u5236\u5fa1\u3078\u306e\u79fb\u884c\u306e\u7642\u6cd5\u3092\u884c\u3046\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\n  <\/li>\n<li>\n    <strong>\u5177\u4f53\u4f8b<\/strong><br \/>\n    <a href=\"https:\/\/github.com\/unitreerobotics\/unitree_sdk2\/blob\/main\/example\/go2\/go2_stand_example.cpp\" target=\"_blank\">unitree_sdk2 \u30b5\u30f3\u30d7\u30eb\u300cgo2_stand_example\u300d<\/a>\u3067\u306f\u3001Low Level\u5236\u5fa1\u3092\u5b9f\u884c\u3059\u308b\u524d\u306bMotionSwitcherClient\u306b\u3088\u308bReleaseMode\u304c\u5b9f\u65bd\u3055\u308c\u3066\u3044\u307e\u3059\u3002<br \/>\n    \u4ee5\u4e0b\u306f\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u306e\u629c\u7c8b\u3067\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>std::cout << \"Try to deactivate the motion control-related service.\" << std::endl;\r\nint32_t ret = msc.ReleaseMode(); \r\nif (ret == 0) {\r\n    std::cout << \"ReleaseMode succeeded.\" << std::endl;\r\n} else {\r\n    std::cout << \"ReleaseMode failed. Error code: \" << ret << std::endl;\r\n}<\/code><\/pre>\n<\/p><\/div>\n<p>\n      \u8a73\u7d30\u30fb\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u4f8b\uff1a<br \/>\n      <a href=\"https:\/\/github.com\/unitreerobotics\/unitree_sdk2\/blob\/main\/example\/go2\/go2_stand_example.cpp\" target=\"_blank\">unitree_sdk2 \u30b5\u30f3\u30d7\u30eb\u300cgo2_stand_example\u300d<\/a><br \/>\n      <a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/Motion%20Switcher%20Service%20Interface\" target=\"_blank\">Motion Switcher\u306e\u516c\u5f0f\u30da\u30fc\u30b8<\/a>\n    <\/p>\n<\/li>\n<\/ul>\n<h5>2-2. RobotStateClient\u3092\u7528\u3044\u305f\u5207\u308a\u66ff\u3048\u65b9\u6cd5<\/h5>\n<ul>\n<li>\n    <strong>\u6982\u8981<\/strong><br \/>\n    RobotStateClient\u306eServiceSwitch\u3092\u4f7f\u7528\u3057\u3066\u5236\u5fa1\u72b6\u614b\u306e\u5207\u308a\u66ff\u3048\u3092\u884c\u3046\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u3053\u308c\u3092\u7528\u3044\u308b\u3068\u3001High \u2192 Low Level\u5236\u5fa1\u3068\u3001Low \u2192 High Level\u5236\u5fa1\u3078\u306e\u79fb\u884c\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\n  <\/li>\n<li>\n    <strong>\u5177\u4f53\u4f8b<\/strong><br \/>\n    <a href=\"https:\/\/github.com\/unitreerobotics\/unitree_sdk2\/blob\/main\/example\/go2\/go2_robot_state_client.cpp\" target=\"_blank\">unitree_sdk2 \u30b5\u30f3\u30d7\u30eb\u300cgo2_robot_state_client\u300d<\/a>\u3067\u306f\u3001\u307e\u305aHigh Level\u5236\u5fa1\u3092\u7121\u52b9\u306b\u3059\u308b\uff08\uff1dLow Level\u5236\u5fa1\u304c\u53ef\u80fd\u306a\u72b6\u614b\u306b\u3059\u308b\uff09\u51e6\u7406\u304c\u884c\u308f\u308c\u3001\u305d\u306e\u5f8c\u5fc5\u8981\u306b\u5fdc\u3058\u3066High Level\u5236\u5fa1\u3092\u518d\u6709\u52b9\u5316\u3059\u308b\u4f8b\u304c\u793a\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u4ee5\u4e0b\u306e\u30b3\u30fc\u30c9\u90e8\u5206\u304c\u5207\u308a\u66ff\u3048\u306e\u5f79\u5272\u3092\u62c5\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>ret = rsc.ServiceSwitch(serviceName, 0, status);\r\nstd::cout << \"Call ServiceSwitch[\" << serviceName << \",0] ret:\" << ret \r\n          << \", cost:\" << timer.Stop() << \" (us)\" << std::endl;\r\n\r\nsleep(5);\r\ntimer.Restart();\r\n\r\nret = rsc.ServiceSwitch(serviceName, 1, status);\r\nstd::cout << \"Call ServiceSwitch[\" << serviceName << \",1] ret:\" << ret \r\n          << \", cost:\" << timer.Stop() << \" (us)\" << std::endl;<\/code><\/pre>\n<\/p><\/div>\n<p>\n      \u8a73\u7d30\u30fb\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u4f8b\uff1a<br \/>\n      <a href=\"https:\/\/github.com\/unitreerobotics\/unitree_sdk2\/blob\/main\/example\/go2\/go2_robot_state_client.cpp\" target=\"_blank\">unitree_sdk2 \u30b5\u30f3\u30d7\u30eb\u300cgo2_robot_state_client\u300d<\/a><br \/>\n      <a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/RobotStateClient\" target=\"_blank\">Robot State Client\u306e\u516c\u5f0f\u30da\u30fc\u30b8<\/a>\n    <\/p>\n<\/li>\n<\/ul>\n<h5>2-3. \u8d77\u52d5\u6642\u306b Low Level\u5236\u5fa1\u306b\u3059\u308b\u65b9\u6cd5<\/h5>\n<ul>\n<li>\n    <strong>\u6982\u8981<\/strong><br \/>\n    MotionSwitcherClient\u306eSetSilent\u3092\u4f7f\u7528\u3057\u3066\u3001Go2\u8d77\u52d5\u6642\u306b\u3001High Lvel\u5236\u5fa1\u306e\u8d77\u52d5\u3092Off\u306b\u3057\u3001\u3059\u3050\u306bLowLevel\u5236\u5fa1\u3092\u884c\u3046\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\n  <\/li>\n<li>\n    \u203b \u3053\u306e\u9805\u306b\u5bfe\u5fdc\u3059\u308b\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u304c\u3042\u308a\u307e\u305b\u3093\u3002\u516c\u5f0fDocs\u3092\u3054\u53c2\u7167\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>\n      \u8a73\u7d30\u30fb\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u4f8b\uff1a<br \/>\n      <a href=\"https:\/\/support.unitree.com\/home\/en\/developer\/Motion%20Switcher%20Service%20Interface\" target=\"_blank\">Motion Switcher\u306e\u516c\u5f0f\u30da\u30fc\u30b8<\/a>\n    <\/p>\n<\/li>\n<\/ul>\n<hr \/>\n<h3>3. \u4e21\u8005\u306e\u76f8\u95a2\u95a2\u4fc2\u3068\u5207\u308a\u66ff\u3048\u306e\u6ce8\u610f\u70b9<\/h3>\n<hr \/>\n<h5>3-1. basic_service\u3068\u306f<\/h5>\n<ul>\n<li>\n    <strong>\u5171\u901a\u8981\u4ef6<\/strong><br \/>\n    Low Level\u5236\u5fa1\u3001High Level\u5236\u5fa1\u3069\u3061\u3089\u306b\u304a\u3044\u3066\u3082\u57fa\u672c\u30b5\u30fc\u30d3\u30b9\uff08basic_service\uff09\u306e\u8d77\u52d5\u304c\u5fc5\u9808\u3067\u3059\u3002\n  <\/li>\n<\/ul>\n<h5>3-2. sport_mode\u3068\u306f<\/h5>\n<ul>\n<li>\n    <strong>sport_mode<\/strong><br \/>\n    High Level\u5236\u5fa1\u3092\u6709\u52b9\u306b\u3059\u308b\u305f\u3081\u306e\u30b5\u30fc\u30d3\u30b9\u3067\u3059\u3002\u518d\u5229\u7528\u6642\u306f\u3001\u3053\u306e\u30e2\u30fc\u30c9\u306e\u8d77\u52d5\u304c\u4e0d\u53ef\u6b20\u3068\u306a\u308a\u307e\u3059\u3002\n  <\/li>\n<li>\n    <strong>ReleaseMode<\/strong><br \/>\n    Low Level\u5236\u5fa1\u5b9f\u884c\u524d\u306b\u5fc5\u305a\u5b9f\u65bd\u3059\u308b\u64cd\u4f5c\u3067\u3042\u308a\u3001\u4e8c\u91cd\u6307\u4ee4\u306e\u767a\u751f\u3092\u9632\u304e\u5b89\u5168\u6027\u3092\u78ba\u4fdd\u3057\u307e\u3059\u3002\n  <\/li>\n<\/ul>\n<hr \/>\n<h3>\u304a\u308f\u308a\u306b<\/h3>\n<p>\n  \u672c\u8a18\u4e8b\u3067\u306f\u3001Go2\u306b\u304a\u3051\u308bLow Level\u5236\u5fa1\u3068High Level\u5236\u5fa1\u306e\u5207\u308a\u66ff\u3048\u65b9\u6cd5\u306b\u3064\u3044\u3066\u3001MotionSwitcherClient\u304a\u3088\u3073RobotStateClient\u3092\u7528\u3044\u305f\u5404\u624b\u6cd5\u3092\u8a73\u8ff0\u3057\u307e\u3057\u305f\u3002<br \/>\n  \u3053\u306e\u8a18\u4e8b\u304c\u7686\u69d8\u306e\u958b\u767a\u306e\u4e00\u52a9\u3068\u306a\u308c\u3070\u5e78\u3044\u3067\u3059\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u521d\u3081\u306b \u672c\u8a18\u4e8b\u3067\u306f\u3001Go2\u306b\u304a\u3051\u308bLow Level\u5236\u5fa1\u3068High Level\u5236\u5fa1\u306e\u5207\u308a\u66ff\u3048\u65b9\u6cd5\u306b\u3064\u3044\u3066\u3054\u6848\u5185\u3057\u307e\u3059\u3002 \u6700\u7d42\u66f4\u65b0\u65e5\uff1a25\/4\/1 \uff08Software Update\u306b\u3088\u308a\u3001\u672c\u8a18\u4e8b\u306e\u5185\u5bb9\u304c\u53e4\u304f\u306a\u308b\u53ef\u80fd\u6027\u304c\u3054\u3056 &hellip;<\/p>\n","protected":false},"author":15,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[72,26,51],"tags":[],"class_list":["post-347121","post","type-post","status-publish","format-standard","hentry","category-go2","category-unitree","category-unitree-tips"],"_links":{"self":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/347121","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=347121"}],"version-history":[{"count":26,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/347121\/revisions"}],"predecessor-version":[{"id":347468,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/347121\/revisions\/347468"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=347121"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=347121"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=347121"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}