Add initial project structure with CMake configuration, source files, and README documentation for Unitree GO2 Custom Controller
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53
scripts/install_deps.sh
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53
scripts/install_deps.sh
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#!/bin/bash
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# Install dependencies for Unitree GO2 Custom Controller
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# Supports Ubuntu/Debian systems
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set -e
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echo "Installing dependencies for Unitree GO2 Custom Controller..."
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# Update package list
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sudo apt update
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# Install build essentials
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echo "Installing build tools..."
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sudo apt install -y \
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build-essential \
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cmake \
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pkg-config \
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git
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# Install MQTT libraries
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echo "Installing MQTT libraries..."
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sudo apt install -y \
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libpaho-mqtt-dev \
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libpaho-mqttpp-dev
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# Install JSON library
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echo "Installing JSON library..."
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sudo apt install -y nlohmann-json3-dev
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# Install SSL libraries (required by MQTT)
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echo "Installing SSL libraries..."
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sudo apt install -y libssl-dev
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# Install additional utilities
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echo "Installing utilities..."
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sudo apt install -y \
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mosquitto-clients \
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net-tools \
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iproute2
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echo "Dependencies installed successfully!"
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# Check if Unitree SDK2 exists
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if [ ! -d "../unitree_sdk2" ]; then
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echo "WARNING: unitree_sdk2 not found at ../unitree_sdk2"
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echo "Please ensure the Unitree SDK2 is available at the correct location"
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fi
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echo "Setup complete. You can now build the project with:"
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echo " mkdir build && cd build"
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echo " cmake .."
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echo " make -j\$(nproc)"
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188
scripts/run_robot.sh
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188
scripts/run_robot.sh
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#!/bin/bash
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# Run script for Unitree GO2 Custom Controller
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# This script handles common startup scenarios
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set -e
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# Default values
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CONFIG_FILE="config/robot_config.json"
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INTERFACE="eth0"
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LOG_LEVEL="INFO"
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LOG_FILE=""
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BACKGROUND=false
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# Colors for output
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RED='\033[0;31m'
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GREEN='\033[0;32m'
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YELLOW='\033[1;33m'
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NC='\033[0m' # No Color
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print_usage() {
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echo "Usage: $0 [OPTIONS]"
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echo ""
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echo "Options:"
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echo " -c, --config FILE Configuration file (default: config/robot_config.json)"
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echo " -i, --interface IFACE Network interface (default: eth0)"
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echo " -l, --log-level LEVEL Log level: DEBUG, INFO, WARN, ERROR (default: INFO)"
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echo " -f, --log-file FILE Log to file"
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echo " -b, --background Run in background"
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echo " -h, --help Show this help"
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echo ""
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echo "Examples:"
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echo " $0 # Run with defaults"
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echo " $0 -i wlan0 -l DEBUG # Use WiFi interface with debug logging"
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echo " $0 -c prod_config.json -f robot.log # Use production config and log to file"
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echo " $0 -b # Run in background"
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}
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log_info() {
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echo -e "${GREEN}[INFO]${NC} $1"
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}
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log_warn() {
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echo -e "${YELLOW}[WARN]${NC} $1"
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}
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log_error() {
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echo -e "${RED}[ERROR]${NC} $1"
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}
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# Parse command line arguments
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while [[ $# -gt 0 ]]; do
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case $1 in
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-c|--config)
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CONFIG_FILE="$2"
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shift 2
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;;
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-i|--interface)
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INTERFACE="$2"
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shift 2
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;;
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-l|--log-level)
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LOG_LEVEL="$2"
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shift 2
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;;
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-f|--log-file)
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LOG_FILE="$2"
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shift 2
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;;
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-b|--background)
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BACKGROUND=true
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shift
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;;
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-h|--help)
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print_usage
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exit 0
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;;
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*)
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log_error "Unknown option: $1"
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print_usage
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exit 1
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;;
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esac
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done
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# Check if executable exists
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EXECUTABLE="./bin/unitree_go2_custom"
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if [ ! -f "$EXECUTABLE" ]; then
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EXECUTABLE="./build/bin/unitree_go2_custom"
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if [ ! -f "$EXECUTABLE" ]; then
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log_error "Executable not found. Please build the project first:"
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echo " mkdir build && cd build && cmake .. && make"
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exit 1
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fi
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fi
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# Check if configuration file exists
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if [ ! -f "$CONFIG_FILE" ]; then
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log_warn "Configuration file not found: $CONFIG_FILE"
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log_info "Creating default configuration..."
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mkdir -p "$(dirname "$CONFIG_FILE")"
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cat > "$CONFIG_FILE" << 'EOF'
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{
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"network": {
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"interface": "eth0"
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},
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"mqtt": {
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"broker": "localhost",
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"port": 1883,
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"client_id": "unitree_go2_client"
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},
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"topics": {
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"prefix": "unitree/go2",
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"cmd": "cmd",
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"state": "state"
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},
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"robot": {
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"control_frequency": 200.0,
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"state_publish_frequency": 50.0
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},
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"safety": {
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"max_linear_velocity": 1.5,
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"max_angular_velocity": 2.0,
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"emergency_stop_timeout": 5.0
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}
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}
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EOF
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log_info "Default configuration created at: $CONFIG_FILE"
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fi
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# Check network interface
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if ! ip link show "$INTERFACE" >/dev/null 2>&1; then
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log_warn "Network interface '$INTERFACE' not found"
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log_info "Available interfaces:"
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ip link show | grep -E '^[0-9]+:' | cut -d: -f2 | tr -d ' '
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log_info "You can specify a different interface with -i option"
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fi
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# Build command
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CMD="$EXECUTABLE"
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CMD="$CMD --config $CONFIG_FILE"
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CMD="$CMD --interface $INTERFACE"
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CMD="$CMD --log-level $LOG_LEVEL"
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if [ -n "$LOG_FILE" ]; then
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CMD="$CMD --log-file $LOG_FILE"
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# Create log directory if needed
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mkdir -p "$(dirname "$LOG_FILE")"
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fi
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# Display startup information
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log_info "Starting Unitree GO2 Custom Controller"
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log_info "Executable: $EXECUTABLE"
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log_info "Configuration: $CONFIG_FILE"
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log_info "Network Interface: $INTERFACE"
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log_info "Log Level: $LOG_LEVEL"
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if [ -n "$LOG_FILE" ]; then
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log_info "Log File: $LOG_FILE"
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fi
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# Setup signal handlers for graceful shutdown
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cleanup() {
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log_info "Shutting down robot controller..."
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if [ -n "$ROBOT_PID" ]; then
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kill -TERM "$ROBOT_PID" 2>/dev/null || true
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wait "$ROBOT_PID" 2>/dev/null || true
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fi
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log_info "Shutdown complete"
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exit 0
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}
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trap cleanup SIGINT SIGTERM
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# Run the robot controller
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if [ "$BACKGROUND" = true ]; then
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log_info "Starting in background mode..."
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nohup $CMD > robot_output.log 2>&1 &
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ROBOT_PID=$!
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log_info "Robot controller started with PID: $ROBOT_PID"
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log_info "Output is being logged to: robot_output.log"
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log_info "Use 'kill $ROBOT_PID' to stop the robot"
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else
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log_info "Starting robot controller..."
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log_info "Press Ctrl+C to stop"
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$CMD &
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ROBOT_PID=$!
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wait "$ROBOT_PID"
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fi
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