cd bin ./ example_UltraSound ./ example_UltraSoundGroup 7. Development and use of Go1 binocular fisheye camera ¶ There are two ways to use ultrasound on Go1, one is to use the lcm topic provided by Unitree to receive all the ultrasound data, and the other is to read the serial data directly. Unitree prefers to use the former. 6.2.1 Receive all ultrasound data using the lcm topic provided by Unitree ¶ The head and body of Go1-Edu are distributed with 5 sets of binocular fisheye cameras, and we provide the corresponding UnitreeCameraSDK for developers to use. 7.1 Hardware ¶

Running new programms on early firmware is problematic, our robot dog cannot standing up or work under this circumstance. The vector positioning mainly uses radio signals, when there is an obvious obstruction between humans and robots, there is a high probability that the robot will lose the actual position of the person. Therefore, when operating, we can artificially choose an ideal route of travel. The camera SDK provides color and depth video streams, as well as internal calibration information, and also provides point clouds and depth images aligned with color images. If the sender has sent, but the program cannot receive it, you can enter the following command on the PC terminal to test: The following content is applicable to Go1 SDK version 3.5.1, other versions of Go1 SDK and A1 sports mode SDK can also be referred to. 3.1.1 Main control commands in the HighCmd structure ¶The Super Sensory System includes five wide-angle stereo depth cameras, hypersonic distance sensors, and an integrated processing system It is established when the IMU is powered on. The Z axis of the IMU is in the direction of gravity, and the XY is based on the time when the power is turned on. The obtained angular velocity is in the initial coordinate system. Front camera Port ID=9201, Chin camera Port ID=9202, Left camera Port ID=9203, Right camera Port ID=9204, Belly camera Port ID=9205. The sports mode is started and established, with the center of the fuselage as the origin, the forward direction is the x direction, the left direction is the y direction, and the vertical upward direction is the z direction.

The picture above is the code of the routine. Two programs are provided for testing. One is to use the same color for all lamp beads, and the other is to combine different colors of different lamp beads to form a new lighting effect. On both sides of the head of Go1, there are two light strips, and we also provide corresponding sdk for developers to use. 5.1 Hardware and SDK ¶ If the required dependencies have been installed on the robot dog, it can be compiled and used directly; As you can see from the sample program, the SDK provides 2 methods to obtain ultrasonic data, UltraSound and UltraSoundGroup.For binocular depth sensing to work properly, please ensure the ambient lighting conditions are good and that obstacles are textured on the surface. There is a possibility of mutual interference between ultrasonic probes, please ensure that there is no ultrasonic emitter around the robot. Ultrasonic sensors only exist in the old version of go1, the new version of go1 do not contain ultrasonic sensors. ttyTHS1, ttyAMA0 are the serial ports on Nano and RasPi respectively, which have been configured on the system, do not modify the system configuration when using, so as not to make the device unusable. 6.2 SDK ¶

gst-launch-1.0 udpsrc port=9201 ! application/x-rtp, media=video, encoding-name=H264 ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! autovideosink

Tutorials

The 5 groups of cameras are distributed on the front face, chin, left and right sides of the fuselage and abdomen. In terms of hardware, the front camera and chin camera are connected to the Nano on the head (192.168.123.13), the cameras on both sides of the fuselage are connected to the Nano (192.168.123.14), and the belly camera is connected to the main Nano or NX (192.168 .123.15) on. Common errors and solutions when using UnitreecameraSDK ¶ 7.3.5.1 Synchronize the system time first if there is any error ¶