This sdk is mainly used for communication between PC and main controller board. It also can be used in other PCs with UDP.

Dependencies

• Boost (version 1.5.4 or higher)
• CMake (version 2.8.3 or higher)
• LCM (version 1.4.0 or higher)

cd lcm-x.x.x
mkdir build
cd build
cmake ../
make
sudo make install

Build

mkdir build
cd build
cmake ../
make

Usage

Run examples with 'sudo' for memory locking.

Only Mini-PC

• Run examples below examples/one_pc.

With ROS

• Run lcm server examples/one_pc/multi_process/xxx.

sudo ./sdk_lcm_server_low

• Build laikago_real in catkin workspace.

roslaunch laikago_real low_client.launch
rosrun laikago_real position_lcm_publisher

Mini-PC + TX2 (or Others, like Xavier)

• Use USB3.0->Ethernet for Mini-PC to extend Ethernet port.
• Configure IP address for each.
• Run examples/multi_pc/host on TX2.
• Run examples/multi_pc/slave on Mini-PC.

unitree-robotics