# unitree_softbus_demo

**Repository Path**: heppen/unitree_softbus_demo

## Basic Information

- **Project Name**: unitree_softbus_demo
- **Description**: 宇树机器狗go1与软总结结合的SDK
- **Primary Language**: C/C++
- **License**: BSD-3-Clause
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 2
- **Created**: 2023-04-17
- **Last Updated**: 2023-05-13

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Softbus Demo
### Build
``` bash
cd softbus_sample
./build.sh
```

### Run
https://docs.openeuler.org/zh/docs/22.03_LTS_SP1/docs/Distributed/%E5%9F%BA%E4%BA%8E%E5%88%86%E5%B8%83%E5%BC%8F%E8%BD%AF%E6%80%BB%E7%BA%BF%E6%89%A9%E5%B1%95%E7%94%9F%E6%80%81%E4%BA%92%E8%81%94.html

# v3.8.6
The unitree_legged_sdk is mainly used for communication between PC and Controller board.
It also can be used in other PCs with UDP.

### Notice
support robot: Go1

not support robot: Laikago, B1, Aliengo, A1. (Check release [v3.3.1](https://github.com/unitreerobotics/unitree_legged_sdk/releases/tag/v3.3.1) for support)

### Dependencies
* [Unitree](https://www.unitree.com/download)
```bash
Legged_sport    >= v1.36.0
firmware H0.1.7 >= v0.1.35
         H0.1.9 >= v0.1.35
```
* [Boost](http://www.boost.org) (version 1.5.4 or higher)
* [CMake](http://www.cmake.org) (version 2.8.3 or higher)
* [g++](https://gcc.gnu.org/) (version 8.3.0 or higher)


### Build
```bash
mkdir build
cd build
cmake ..
make
```

If you want to build the python wrapper, then replace the cmake line with:
```bash
cmake -DPYTHON_BUILD=TRUE ..
```

If can not find pybind11 headers, then add
```bash
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/third-party/pybind11/include)
```
at line 14 in python_wrapper/CMakeLists.txt.

If can not find msgpack.hpp, then
```bash
sudo apt install libmsgpack*
```

### Run

#### Cpp
Run examples with 'sudo' for memory locking.

#### Python
##### arm
change `sys.path.append('../lib/python/amd64')` to `sys.path.append('../lib/python/arm64')`