Solo Quadruped 主板的 硬件和固件_设计_文档_相关文件_下载_C语言

# SDK The SDK provide a simple C++ class interface to send command to the masterboard via Ethernet or Wifi. ## Prepare you interface You first need to identify you interface name. To get a list of the interface on your computer, run ```ifconfig``` #### Ethernet A direct connection should me made between the master board and you computer. It is not possible to use the same interface for local network and master board connection. ###### Optional configuration: Some packet will be sent by the OS to the master board. Their are not usefull since the master board only use raw MAC frame. To disable ARP packet run: ``` sudo ifconfig MY_INTERFACE -arp ``` where MY_INTERFACE is your lan interface name. To disable IPV6 trafic, add this line into ``` /etc/sysctl.conf``` ``` net.ipv6.conf.MY_INTERFACE.disable_ipv6 = 1 ``` where MY_INTERFACE is your lan interface name. #### Wifi Your interface should support monitor mode and injection since the procol used by the master board is not a standard wifi. You need to configure your interface. A script is available in the sdk folder. to use it run ``` sudo ./setup_wifi.sh MY_INTERFACE ``` where MY_INTERFACE your wlan interface name. How to run the C++ example -------- main.cpp is a simple example to test the SDK, tested on ubuntu. It will execute a sinusoid trajectory on the first N_CONTROLLED_SLAVE to compile it go into the sdk folder and run: ``` make ``` a bin folder is created. to run the example run: ``` sudo ./bin/exec MY_INTERFACE ``` where MY_INTERFACE is the name of the network interface used to connect to the master board. How to run the Python examples -------- * Clone the repository: `git clone --recursive https://github.com/open-dynamic-robot-initiative/master-board.git` * Get into the repository: `cd master-board` * Set the number of controlled drivers by opening `sdk/master_board_sdk/example/example.py` and tuning the `N_SLAVES_CONTROLED` constant: `N_SLAVES_CONTROLED 4` if you are using 4 driver boards (1 per leg) * Get in `sdk/master_board_sdk/`: `cd sdk/master_board_sdk/` * Create a build folder: `mkdir build` * Get into the folder: `cd build` * Two possibilities: * Using `ccmake ..` turn on Python bindings by setting `BUILD_PYTHON_INTERFACE` to `ON` and `CMAKE_BUILD_TYPE` to `RELEASE`. Then compile and create the bindings: `cmake ..` then `make` * Directly use `cmake -DBUILD_PYTHON_INTERFACE=ON -DCMAKE_BUILD_TYPE=RELEASE ..` then `make`. If you want to run the scripts with Python 3 then use `cmake -DBUILD_PYTHON_INTERFACE=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=$(which python3) ..` instead. * Run the control script with the name of your Ethernet interface instead of `name_interface` (for instance `enp1s0`): `sudo PYTHONPATH=. python example/example.pyc -i name_interface` * Run the listener script with the name of your Ethernet interface instead of `name_interface` (for instance `enp1s0`): `sudo PYTHONPATH=. python example/listener.pyc -i name_interface` * Run the communication analyser script with the name of your Ethernet interface instead of `name_interface` (for instance `enp1s0`): `sudo PYTHONPATH=. python example/com_analyser.pyc -i name_interface` How to run an executable based on the SDK without root permissions ------- To run an executable named EXECUTABLE_NAME without root permissions, run : ``` sudo setcap cap_net_admin,cap_net_raw+ep EXECUTABLE_NAME ``` remember to reset the capabilities on python if you use it other you can [get into trouble](https://answers.ros.org/question/366380/ubuntu1804ros2-dashing-failed-to-load-entry-point-issue/): ``` sudo setcap -r /usr/bin/python3.6 ```