tanjianbin/lzwc-terminal-unitreeGo2
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refactor(controller): Update TrajectoryFollow method signature and improve path handling

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- Changed the signature of TrajectoryFollow to accept a vector of unitree::robot::go2::PathPoint instead of std::array<float, 6>.
- Updated the implementation of TrajectoryFollow in controller.cpp to utilize the new path type.
- Removed unnecessary status message in CMakeLists.txt related to unitree_sdk2 detection.
- Added a new function in custom_robot.cpp to create example trajectories for different path types (line, square, circle) and integrated it into the command processing for TrajectoryFollow.
This commit is contained in:
Sucan126
2025-09-23 18:40:42 +08:00
parent e0e1b5f642
commit 6c8a4a3b38
4 changed files with 99 additions and 6 deletions
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CMakeLists.txt
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@@ -18,7 +18,6 @@ if(NOT PahoMqttC_FOUND)
endif()
find_package(unitree_sdk2 REQUIRED)
message(STATUS "Found unitree_sdk2 in: ${unitree_sdk2_DIR}")
# Include directories
include_directories(