创建自定义消息

src/rc_msgs/.gitignore

@@ -0,0 +1,51 @@
+devel/
+logs/
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE

src/rc_msgs/CMakeLists.txt

@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.8)
+project(rc_msgs)
+
+find_package(rosidl_default_generators REQUIRED)
+rosidl_generate_interfaces(${PROJECT_NAME}
+        "msg/Ps2Data.msg"
+        "msg/DataControl.msg"
+        "msg/DataMotor.msg"
+)
+
+ament_package()
+

src/rc_msgs/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2025 zucheng Lv
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

src/rc_msgs/README.md

@@ -0,0 +1,6 @@
+# rc_msg
+Some ROS 2 custom messages for Robotaster
+
+Usage
+Modify or add files in the /msg directory as needed
+colcon build

src/rc_msgs/msg/DataControl.msg

@@ -0,0 +1,5 @@
+int16 tau
+int16 vw
+int32 pos
+uint16 kp
+uint16 kd

src/rc_msgs/msg/DataMotor.msg

@@ -0,0 +1,3 @@
+int16 tau
+int16 vw
+int32 pos

src/rc_msgs/msg/Ps2Data.msg

@@ -0,0 +1,20 @@
+# control input message
+float32 lx
+float32 ly
+float32 rx
+float32 ry
+
+float32 up_down
+float32 left_right
+
+bool l1
+bool l2
+bool r1
+bool r2
+
+# 四种模式
+uint8 mode # 0:手柄控制 1:键盘控制 2:自瞄 3:手动瞄准
+
+bool select
+bool start
+

src/rc_msgs/package.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<package format="3">
+    <name>rc_msgs</name>
+    <version>0.0.1</version>
+    <description>Describe custom messages</description>
+    <maintainer email="1683502971@qq.com">biao</maintainer>
+    <license>MIT</license>
+
+    <buildtool_depend>rosidl_default_generators</buildtool_depend>
+    <exec_depend>rosidl_default_runtime</exec_depend>
+    <member_of_group>rosidl_interface_packages</member_of_group>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>

src/unitree_motor_serial_driver/include/unitree_motor_serial_driver/unitree_motor_serial_driver.hpp

@@ -17,6 +17,13 @@ struct Motor_t
     MotorData data;
 };
 
+// struct Leg_Motor_t
+// {
+//     Motor_t foot;
+//     Motor_t small;
+//     Motor_t big;
+// };
+
 class MotorControlNode : public rclcpp::Node
 {
 public:

src/unitree_motor_serial_driver/src/unitree_motor_serial_driver.cpp

@@ -19,8 +19,8 @@ void MotorControlNode::control_motor()
     data.motorType = MotorType::GO_M8010_6;
     cmd.mode = queryMotorMode(MotorType::GO_M8010_6, MotorMode::FOC);
     cmd.id = 0;
-    cmd.q = 0.0; 
+    cmd.q = 0.0*queryGearRatio(MotorType::GO_M8010_6);; 
-    cmd.dq = 0.0;
+    cmd.dq = 0.0*queryGearRatio(MotorType::GO_M8010_6);;
     cmd.kp = 0.0;
     cmd.kd = 0.0;
     cmd.tau = 0.0;