From eaf598eb0bd2c89ba73e6c873e6af06912f2953e Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Tue, 8 Apr 2025 05:09:23 +0800
Subject: [PATCH] =?UTF-8?q?=E5=9F=BA=E6=9C=AC=E9=80=9A=E8=AE=AF=E9=80=9A?=
=?UTF-8?q?=E4=BA=86?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
.vscode/settings.json | 8 +
README.md | 18 +-
.../CMakeLists.txt | 54 ++++++
.../include/IOPort/IOPort.h | 41 +++++
.../include/crc/crc32.h | 33 ++++
.../include/crc/crc_ccitt.h | 67 ++++++++
.../include/serialPort/SerialPort.h | 98 +++++++++++
.../include/serialPort/include/errorClass.h | 52 ++++++
.../unitreeMotor/include/motor_msg_A1B1.h | 162 ++++++++++++++++++
.../include/motor_msg_GO-M8010-6.h | 90 ++++++++++
.../include/unitreeMotor/unitreeMotor.h | 74 ++++++++
.../unitree_motor_serial_driver.hpp | 34 ++++
.../launch/goM8010_6_motor.launch.py | 15 ++
.../unitree_motor_serial_driver.launch.py | 15 ++
src/unitree_motor_serial_driver/package.xml | 21 +++
.../src/goM8010_6_motor.cpp | 51 ++++++
.../src/unitree_motor_serial_driver.cpp | 42 +++++
17 files changed, 874 insertions(+), 1 deletion(-)
create mode 100644 .vscode/settings.json
create mode 100644 src/unitree_motor_serial_driver/CMakeLists.txt
create mode 100755 src/unitree_motor_serial_driver/include/IOPort/IOPort.h
create mode 100755 src/unitree_motor_serial_driver/include/crc/crc32.h
create mode 100644 src/unitree_motor_serial_driver/include/crc/crc_ccitt.h
create mode 100755 src/unitree_motor_serial_driver/include/serialPort/SerialPort.h
create mode 100755 src/unitree_motor_serial_driver/include/serialPort/include/errorClass.h
create mode 100755 src/unitree_motor_serial_driver/include/unitreeMotor/include/motor_msg_A1B1.h
create mode 100755 src/unitree_motor_serial_driver/include/unitreeMotor/include/motor_msg_GO-M8010-6.h
create mode 100755 src/unitree_motor_serial_driver/include/unitreeMotor/unitreeMotor.h
create mode 100644 src/unitree_motor_serial_driver/include/unitree_motor_serial_driver/unitree_motor_serial_driver.hpp
create mode 100644 src/unitree_motor_serial_driver/launch/goM8010_6_motor.launch.py
create mode 100644 src/unitree_motor_serial_driver/launch/unitree_motor_serial_driver.launch.py
create mode 100644 src/unitree_motor_serial_driver/package.xml
create mode 100644 src/unitree_motor_serial_driver/src/goM8010_6_motor.cpp
create mode 100644 src/unitree_motor_serial_driver/src/unitree_motor_serial_driver.cpp
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..a522144
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,8 @@
+{
+ "files.associations": {
+ "array": "cpp",
+ "string": "cpp",
+ "string_view": "cpp",
+ "chrono": "cpp"
+ }
+}
\ No newline at end of file
diff --git a/README.md b/README.md
index 805175f..1064e9b 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,19 @@
# CM_DOG
-A simple ros2 program for legged robot . Robocon2025
\ No newline at end of file
+A simple ROS2 program for a legged robot. Developed for Robocon2025.
+
+## 硬件配置
+
+- **关节电机**: Unitree GO-8010-6 (12个)
+- **IMU传感器**: 轮趣科技 N100陀螺仪
+- **通信接口**: USB转思路RS485
+
+## 软件依赖
+
+- Ros2 humble
+
+## 使用说明
+
+1. 克隆仓库：
+
+2. 构建项目：
diff --git a/src/unitree_motor_serial_driver/CMakeLists.txt b/src/unitree_motor_serial_driver/CMakeLists.txt
new file mode 100644
index 0000000..b843643
--- /dev/null
+++ b/src/unitree_motor_serial_driver/CMakeLists.txt
@@ -0,0 +1,54 @@
+cmake_minimum_required(VERSION 3.8)
+project(unitree_motor_serial_driver)
+
+# 设置 C++ 标准
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
+
+# 包含 ROS 2 依赖
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+
+# 包含目录和库路径
+include_directories(include)
+link_directories(lib)
+
+# 设置全局 RPATH
+set(CMAKE_INSTALL_RPATH "${CMAKE_CURRENT_SOURCE_DIR}/lib")
+set(CMAKE_BUILD_RPATH "${CMAKE_CURRENT_SOURCE_DIR}/lib")
+
+# 根据系统架构选择库
+if(CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "aarch64")
+ set(EXTRA_LIBS libUnitreeMotorSDK_Arm64.so)
+else()
+ set(EXTRA_LIBS libUnitreeMotorSDK_Linux64.so)
+endif()
+
+# 添加可执行文件和链接库
+add_executable(goM8010_6_motor src/goM8010_6_motor.cpp)
+ament_target_dependencies(goM8010_6_motor rclcpp)
+target_link_libraries(goM8010_6_motor ${EXTRA_LIBS})
+
+add_executable(unitree_motor_serial_driver src/unitree_motor_serial_driver.cpp)
+ament_target_dependencies(unitree_motor_serial_driver rclcpp)
+target_link_libraries(unitree_motor_serial_driver ${EXTRA_LIBS})
+
+# 安装目标
+install(TARGETS
+ goM8010_6_motor
+ unitree_motor_serial_driver
+ DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY launch/
+ DESTINATION share/${PROJECT_NAME}/launch
+)
+
+# 安装头文件
+install(DIRECTORY include/
+ DESTINATION include/
+)
+
+# ROS 2 包配置
+ament_package()
\ No newline at end of file
diff --git a/src/unitree_motor_serial_driver/include/IOPort/IOPort.h b/src/unitree_motor_serial_driver/include/IOPort/IOPort.h
new file mode 100755
index 0000000..173b617
--- /dev/null
+++ b/src/unitree_motor_serial_driver/include/IOPort/IOPort.h
@@ -0,0 +1,41 @@
+#ifndef __IOPORT_H
+#define __IOPORT_H
+
+#include <stdint.h>
+#include <unistd.h>
+#include <vector>
+#include "unitreeMotor/unitreeMotor.h"
+
+enum class BlockYN{
+ YES,
+ NO
+};
+
+class IOPort{
+public:
+ IOPort(BlockYN blockYN, size_t recvLength, size_t timeOutUs){
+ resetIO(blockYN, recvLength, timeOutUs);
+ }
+ virtual ~IOPort(){}
+ virtual size_t send(uint8_t *sendMsg, size_t sendLength) = 0;
+ virtual size_t recv(uint8_t *recvMsg, size_t recvLength) = 0;
+ virtual size_t recv(uint8_t *recvMsg) = 0;
+ virtual bool sendRecv(std::vector<MotorCmd> &sendVec, std::vector<MotorData> &recvVec) = 0;
+ void resetIO(BlockYN blockYN, size_t recvLength, size_t timeOutUs);
+protected:
+ BlockYN _blockYN = BlockYN::NO;
+ size_t _recvLength;
+ timeval _timeout;
+ timeval _timeoutSaved;
+};
+
+inline void IOPort::resetIO(BlockYN blockYN, size_t recvLength, size_t timeOutUs){
+ _blockYN = blockYN;
+ _recvLength = recvLength;
+ _timeout.tv_sec = timeOutUs / 1000000;
+ _timeout.tv_usec = timeOutUs % 1000000;
+ _timeoutSaved = _timeout;
+}
+
+
+#endif // z1_lib_IOPORT_H
\ No newline at end of file
diff --git a/src/unitree_motor_serial_driver/include/crc/crc32.h b/src/unitree_motor_serial_driver/include/crc/crc32.h
new file mode 100755
index 0000000..cea99c8
--- /dev/null
+++ b/src/unitree_motor_serial_driver/include/crc/crc32.h
@@ -0,0 +1,33 @@
+#ifndef CRC32_H
+#define CRC32_H
+
+#include <stdint.h>
+
+inline uint32_t crc32_core(uint32_t* ptr, uint32_t len){
+ uint32_t xbit = 0;
+ uint32_t data = 0;
+ uint32_t CRC32 = 0xFFFFFFFF;
+ const uint32_t dwPolynomial = 0x04c11db7;
+ for (uint32_t i = 0; i < len; i++)
+ {
+ xbit = 1 << 31;
+ data = ptr[i];
+ for (uint32_t bits = 0; bits < 32; bits++)
+ {
+ if (CRC32 & 0x80000000)
+ {
+ CRC32 <<= 1;
+ CRC32 ^= dwPolynomial;
+ }
+ else
+ CRC32 <<= 1;
+ if (data & xbit)
+ CRC32 ^= dwPolynomial;
+
+ xbit >>= 1;
+ }
+ }
+ return CRC32;
+}
+
+#endif // CRC32_H
\ No newline at end of file
diff --git a/src/unitree_motor_serial_driver/include/crc/crc_ccitt.h b/src/unitree_motor_serial_driver/include/crc/crc_ccitt.h
new file mode 100644
index 0000000..2930e24
--- /dev/null
+++ b/src/unitree_motor_serial_driver/include/crc/crc_ccitt.h
@@ -0,0 +1,67 @@
+#ifndef __CRC_CCITT_H
+#define __CRC_CCITT_H
+
+/*
+ * This mysterious table is just the CRC of each possible byte. It can be
+ * computed using the standard bit-at-a-time methods. The polynomial can
+ * be seen in entry 128, 0x8408. This corresponds to x^0 + x^5 + x^12.
+ * Add the implicit x^16, and you have the standard CRC-CCITT.
+ * https://github.com/torvalds/linux/blob/5bfc75d92efd494db37f5c4c173d3639d4772966/lib/crc-ccitt.c
+ */
+uint16_t const crc_ccitt_table[256] = {
+ 0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
+ 0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
+ 0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
+ 0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
+ 0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
+ 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
+ 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
+ 0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
+ 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
+ 0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
+ 0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
+ 0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
+ 0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
+ 0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
+ 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
+ 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
+ 0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
+ 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
+ 0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
+ 0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
+ 0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
+ 0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
+ 0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
+ 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
+ 0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
+ 0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
+ 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
+ 0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
+ 0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
+ 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
+ 0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
+ 0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78
+};
+
+
+static uint16_t crc_ccitt_byte(uint16_t crc, const uint8_t c)
+{
+ return (crc >> 8) ^ crc_ccitt_table[(crc ^ c) & 0xff];
+}
+
+/**
+ * crc_ccitt - recompute the CRC (CRC-CCITT variant) for the data
+ * buffer
+ * @crc: previous CRC value
+ * @buffer: data pointer
+ * @len: number of bytes in the buffer
+ */
+inline uint16_t crc_ccitt(uint16_t crc, uint8_t const *buffer, size_t len)
+{
+ while (len--)
+ crc = crc_ccitt_byte(crc, *buffer++);
+ return crc;
+}
+
+
+#endif
diff --git a/src/unitree_motor_serial_driver/include/serialPort/SerialPort.h b/src/unitree_motor_serial_driver/include/serialPort/SerialPort.h
new file mode 100755
index 0000000..0f608b2
--- /dev/null
+++ b/src/unitree_motor_serial_driver/include/serialPort/SerialPort.h
@@ -0,0 +1,98 @@
+#ifndef __SERIALPORT_H
+#define __SERIALPORT_H
+
+/*
+High frequency serial communication,
+Not that common, but useful for motor communication.
+*/
+#include <termios.h>
+#include <sys/select.h>
+#include <string>
+#include <string.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <linux/serial.h>
+#include <unistd.h>
+#include <iostream>
+
+#include "serialPort/include/errorClass.h"
+#include "unitreeMotor/unitreeMotor.h"
+#include "IOPort/IOPort.h"
+
+enum class bytesize_t{
+ fivebits,
+ sixbits,
+ sevenbits,
+ eightbits
+};
+
+enum class parity_t{
+ parity_none,
+ parity_odd,
+ parity_even,
+ parity_mark,
+ parity_space
+};
+
+enum class stopbits_t{
+ stopbits_one,
+ stopbits_two,
+ stopbits_one_point_five
+};
+
+enum class flowcontrol_t{
+ flowcontrol_none,
+ flowcontrol_software,
+ flowcontrol_hardware
+};
+
+class SerialPort : public IOPort{
+public:
+ SerialPort(const std::string &portName,
+ size_t recvLength = 16,
+ uint32_t baudrate = 4000000,
+ size_t timeOutUs = 20000,
+ BlockYN blockYN = BlockYN::NO,
+ bytesize_t bytesize = bytesize_t::eightbits,
+ parity_t parity = parity_t::parity_none,
+ stopbits_t stopbits = stopbits_t::stopbits_one,
+ flowcontrol_t flowcontrol = flowcontrol_t::flowcontrol_none);
+ virtual ~SerialPort();
+ void resetSerial(size_t recvLength = 16,
+ uint32_t baudrate = 4000000,
+ size_t timeOutUs = 20000,
+ BlockYN blockYN = BlockYN::NO,
+ bytesize_t bytesize = bytesize_t::eightbits,
+ parity_t parity = parity_t::parity_none,
+ stopbits_t stopbits = stopbits_t::stopbits_one,
+ flowcontrol_t flowcontrol = flowcontrol_t::flowcontrol_none);
+ size_t send(uint8_t *sendMsg, size_t sendLength);
+ size_t recv(uint8_t *recvMsg, size_t recvLength);
+ size_t recv(uint8_t *recvMsg);
+ bool sendRecv(uint8_t *sendMsg, uint8_t *recvMsg, size_t sendLength);
+ bool sendRecv(MotorCmd* sendMsg, MotorData* recvMsg);
+ bool sendRecv(std::vector<MotorCmd> &sendVec, std::vector<MotorData> &recvVec);
+ void test();
+private:
+ void _open();
+ void _set();
+ void _close();
+ size_t _nonBlockRecv(uint8_t *recvMsg, size_t readLen);
+ std::string _portName;
+ uint32_t _baudrate;
+ bytesize_t _bytesize;
+ parity_t _parity;
+ stopbits_t _stopbits;
+ flowcontrol_t _flowcontrol;
+ bool _xonxoff;
+ bool _rtscts;
+ int _fd;
+ fd_set _rSet;
+
+};
+
+
+
+
+#endif // SERIALPORT_H
\ No newline at end of file
diff --git a/src/unitree_motor_serial_driver/include/serialPort/include/errorClass.h b/src/unitree_motor_serial_driver/include/serialPort/include/errorClass.h
new file mode 100755
index 0000000..48313c3
--- /dev/null
+++ b/src/unitree_motor_serial_driver/include/serialPort/include/errorClass.h
@@ -0,0 +1,52 @@
+#ifndef __ERRORCLASS_H
+#define __ERRORCLASS_H
+
+#include <string>
+#include <exception>
+#include <stdexcept>
+#include <sstream>
+#include <cstring>
+
+#define THROW(exceptionClass, message) throw exceptionClass(__FILE__, \
+__LINE__, (message) )
+
+class IOException : public std::exception
+{
+ // Disable copy constructors
+ IOException& operator=(const IOException&);
+ std::string file_;
+ int line_;
+ std::string e_what_;
+ int errno_;
+public:
+ explicit IOException (std::string file, int line, int errnum)
+ : file_(file), line_(line), errno_(errnum) {
+ std::stringstream ss;
+#if defined(_WIN32) && !defined(__MINGW32__)
+ char error_str [1024];
+ strerror_s(error_str, 1024, errnum);
+#else
+ char * error_str = strerror(errnum);
+#endif
+ ss << "IO Exception (" << errno_ << "): " << error_str;
+ ss << ", file " << file_ << ", line " << line_ << ".";
+ e_what_ = ss.str();
+ }
+ explicit IOException (std::string file, int line, const char * description)
+ : file_(file), line_(line), errno_(0) {
+ std::stringstream ss;
+ ss << "IO Exception: " << description;
+ ss << ", file " << file_ << ", line " << line_ << ".";
+ e_what_ = ss.str();
+ }
+ virtual ~IOException() throw() {}
+ IOException (const IOException& other) : line_(other.line_), e_what_(other.e_what_), errno_(other.errno_) {}
+
+ int getErrorNumber () const { return errno_; }
+
+ virtual const char* what () const throw () {
+ return e_what_.c_str();
+ }
+};
+
+#endif // ERRORCLASS_H
\ No newline at end of file
diff --git a/src/unitree_motor_serial_driver/include/unitreeMotor/include/motor_msg_A1B1.h b/src/unitree_motor_serial_driver/include/unitreeMotor/include/motor_msg_A1B1.h
new file mode 100755
index 0000000..95120ab
--- /dev/null
+++ b/src/unitree_motor_serial_driver/include/unitreeMotor/include/motor_msg_A1B1.h
@@ -0,0 +1,162 @@
+#ifndef MOTOR_A1B1_MSG
+#define MOTOR_A1B1_MSG
+
+#include <stdint.h>
+typedef int16_t q15_t;
+
+#pragma pack(1)
+
+// 发送用单个数据数据结构
+typedef union{
+ int32_t L;
+ uint8_t u8[4];
+ uint16_t u16[2];
+ uint32_t u32;
+ float F;
+}COMData32;
+
+typedef struct {
+ // 定义 数据包头
+ unsigned char start[2]; // 包头
+ unsigned char motorID; // 电机ID 0,1,2,3 ... 0xBB 表示向所有电机广播（此时无返回）
+ unsigned char reserved;
+}COMHead;
+
+#pragma pack()
+
+#pragma pack(1)
+
+typedef struct {
+
+ uint8_t fan_d; // 关节上的散热风扇转速
+ uint8_t Fmusic; // 电机发声频率 /64*1000 15.625f 频率分度
+ uint8_t Hmusic; // 电机发声强度 推荐值4 声音强度 0.1 分度
+ uint8_t reserved4;
+
+ uint8_t FRGB[4]; // 足端LED
+
+}LowHzMotorCmd;
+
+typedef struct { // 以 4个字节一组排列 ，不然编译器会凑整
+ // 定义 数据
+ uint8_t mode; // 关节模式选择
+ uint8_t ModifyBit; // 电机控制参数修改位
+ uint8_t ReadBit; // 电机控制参数发送位
+ uint8_t reserved;
+
+ COMData32 Modify; // 电机参数修改 的数据
+ //实际给FOC的指令力矩为：
+ //K_P*delta_Pos + K_W*delta_W + T
+ q15_t T; // 期望关节的输出力矩（电机本身的力矩）x256, 7 + 8 描述
+ q15_t W; // 期望关节速度 （电机本身的速度） x128, 8 + 7描述
+ int32_t Pos; // 期望关节位置 x 16384/6.2832, 14位编码器（主控0点修正，电机关节还是以编码器0点为准）
+
+ q15_t K_P; // 关节刚度系数 x2048 4+11 描述
+ q15_t K_W; // 关节速度系数 x1024 5+10 描述
+
+ uint8_t LowHzMotorCmdIndex; // 电机低频率控制命令的索引, 0-7, 分别代表LowHzMotorCmd中的8个字节
+ uint8_t LowHzMotorCmdByte; // 电机低频率控制命令的字节
+
+ COMData32 Res[1]; // 通讯 保留字节 用于实现别的一些通讯内容
+
+}MasterComdV3; // 加上数据包的包头 和CRC 34字节
+
+typedef struct {
+ // 定义 电机控制命令数据包
+ COMHead head;
+ MasterComdV3 Mdata;
+ COMData32 CRCdata;
+}MasterComdDataV3;//返回数据
+
+// typedef struct {
+// // 定义 总得485 数据包
+
+// MasterComdData M1;
+// MasterComdData M2;
+// MasterComdData M3;
+
+// }DMA485TxDataV3;
+
+#pragma pack()
+
+#pragma pack(1)
+
+typedef struct { // 以 4个字节一组排列 ，不然编译器会凑整
+ // 定义 数据
+ uint8_t mode; // 当前关节模式
+ uint8_t ReadBit; // 电机控制参数修改 是否成功位
+ int8_t Temp; // 电机当前平均温度
+ uint8_t MError; // 电机错误 标识
+
+ COMData32 Read; // 读取的当前 电机 的控制数据
+ int16_t T; // 当前实际电机输出力矩 7 + 8 描述
+
+ int16_t W; // 当前实际电机速度（高速） 8 + 7 描述
+ float LW; // 当前实际电机速度（低速）
+
+ int16_t W2; // 当前实际关节速度（高速） 8 + 7 描述
+ float LW2; // 当前实际关节速度（低速）
+
+ int16_t Acc; // 电机转子加速度 15+0 描述 惯量较小
+ int16_t OutAcc; // 输出轴加速度 12+3 描述 惯量较大
+
+ int32_t Pos; // 当前电机位置（主控0点修正，电机关节还是以编码器0点为准）
+ int32_t Pos2; // 关节编码器位置(输出编码器)
+
+ int16_t gyro[3]; // 电机驱动板6轴传感器数据
+ int16_t acc[3];
+
+ // 力传感器的数据
+ int16_t Fgyro[3]; //
+ int16_t Facc[3];
+ int16_t Fmag[3];
+ uint8_t Ftemp; // 8位表示的温度 7位（-28~100度） 1位0.5度分辨率
+
+ int16_t Force16; // 力传感器高16位数据
+ int8_t Force8; // 力传感器低8位数据
+
+ uint8_t FError; // 足端传感器错误标识
+
+ int8_t Res[1]; // 通讯 保留字节
+
+}ServoComdV3; // 加上数据包的包头 和CRC 78字节（4+70+4）
+
+typedef struct {
+ // 定义 电机控制命令数据包
+ COMHead head;
+ ServoComdV3 Mdata;
+
+ COMData32 CRCdata;
+
+}ServoComdDataV3; //发送数据
+
+// typedef struct {
+// // 定义 总的485 接受数据包
+
+// ServoComdDataV3 M[3];
+// // uint8_t nullbyte1;
+
+// }DMA485RxDataV3;
+
+
+#pragma pack()
+
+// 00 00 00 00 00
+// 00 00 00 00 00
+// 00 00 00 00 00
+// 00 00 00
+// 数据包默认初始化
+// 主机发送的数据包
+/*
+ Tx485Data[_FR][i].head.start[0] = 0xFE ; Tx485Data[_FR][i].head.start[1] = 0xEE; // 数据包头
+ Tx485Data[_FR][i].Mdata.ModifyBit = 0xFF; Tx485Data[_FR][i].Mdata.mode = 0; // 默认不修改数据 和 电机的默认工作模式
+ Tx485Data[_FR][i].head.motorID = i; 0 // 目标电机标号
+ Tx485Data[_FR][i].Mdata.T = 0.0f; // 默认目标关节输出力矩 motor1.Extra_Torque = motorRxData[1].Mdata.T*0.390625f; // N.M 转化为 N.CM IQ8描述
+ Tx485Data[_FR][i].Mdata.Pos = 0x7FE95C80; // 默认目标关节位置 不启用位置环 14位分辨率
+ Tx485Data[_FR][i].Mdata.W = 16000.0f; // 默认目标关节速度 不启用速度环 1+8+7描述 motor1.Target_Speed = motorRxData[1].Mdata.W*0.0078125f; // 单位 rad/s IQ7描述
+ Tx485Data[_FR][i].Mdata.K_P = (q15_t)(0.6f*(1<<11)); // 默认关节刚度系数 4+11 描述 motor1.K_Pos = ((float)motorRxData[1].Mdata.K_P)/(1<<11); // 描述刚度的通讯数据格式 4+11
+ Tx485Data[_FR][i].Mdata.K_W = (q15_t)(1.0f*(1<<10)); // 默认关节速度系数 5+10 描述 motor1.K_Speed = ((float)motorRxData[1].Mdata.K_W)/(1<<10); // 描述阻尼的通讯数据格式 5+10
+*/
+
+
+#endif
\ No newline at end of file
diff --git a/src/unitree_motor_serial_driver/include/unitreeMotor/include/motor_msg_GO-M8010-6.h b/src/unitree_motor_serial_driver/include/unitreeMotor/include/motor_msg_GO-M8010-6.h
new file mode 100755
index 0000000..54aeefe
--- /dev/null
+++ b/src/unitree_motor_serial_driver/include/unitreeMotor/include/motor_msg_GO-M8010-6.h
@@ -0,0 +1,90 @@
+#ifndef __MOTOR_MSG_GO_M8010_6_H
+#define __MOTOR_MSG_GO_M8010_6_H
+
+#include <stdint.h>
+#define CRC_SIZE 2
+#define CTRL_DAT_SIZE sizeof(ControlData_t) - CRC_SIZE
+#define DATA_DAT_SIZE sizeof(MotorData_t) - CRC_SIZE
+
+#pragma pack(1)
+
+/**
+ * @brief 电机模式控制信息
+ *
+ */
+typedef struct
+{
+ uint8_t id :4; // 电机ID: 0,1...,14 15表示向所有电机广播数据(此时无返回)
+ uint8_t status :3; // 工作模式: 0.锁定 1.FOC闭环 2.编码器校准 3.保留
+ uint8_t none :1; // 保留位
+} RIS_Mode_t; // 控制模式 1Byte
+
+/**
+ * @brief 电机状态控制信息
+ *
+ */
+typedef struct
+{
+ int16_t tor_des; // 期望关节输出扭矩 unit: N.m (q8)
+ int16_t spd_des; // 期望关节输出速度 unit: rad/s (q7)
+ int32_t pos_des; // 期望关节输出位置 unit: rad (q15)
+ uint16_t k_pos; // 期望关节刚度系数 unit: 0.0-1.0 (q15)
+ uint16_t k_spd; // 期望关节阻尼系数 unit: 0.0-1.0 (q15)
+
+} RIS_Comd_t; // 控制参数 12Byte
+
+/**
+ * @brief 电机状态反馈信息
+ *
+ */
+typedef struct
+{
+ int16_t torque; // 实际关节输出扭矩 unit: N.m (q8)
+ int16_t speed; // 实际关节输出速度 unit: rad/s (q7)
+ int32_t pos; // 实际关节输出位置 unit: W (q15)
+ int8_t temp; // 电机温度: -128~127°C 90°C时触发温度保护
+ uint8_t MError :3; // 电机错误标识: 0.正常 1.过热 2.过流 3.过压 4.编码器故障 5-7.保留
+ uint16_t force :12; // 足端气压传感器数据 12bit (0-4095)
+ uint8_t none :1; // 保留位
+} RIS_Fbk_t; // 状态数据 11Byte
+
+
+#pragma pack()
+
+#pragma pack(1)
+
+/**
+ * @brief 控制数据包格式
+ *
+ */
+typedef struct
+{
+ uint8_t head[2]; // 包头 2Byte
+ RIS_Mode_t mode; // 电机控制模式 1Byte
+ RIS_Comd_t comd; // 电机期望数据 12Byte
+ uint16_t CRC16; // CRC 2Byte
+
+} ControlData_t; // 主机控制命令 17Byte
+
+/**
+ * @brief 电机反馈数据包格式
+ *
+ */
+typedef struct
+{
+ uint8_t head[2]; // 包头 2Byte
+ RIS_Mode_t mode; // 电机控制模式 1Byte
+ RIS_Fbk_t fbk; // 电机反馈数据 11Byte
+ uint16_t CRC16; // CRC 2Byte
+
+} MotorData_t; // 电机返回数据 16Byte
+
+#pragma pack()
+
+#endif
+
+
+
+
+
+
diff --git a/src/unitree_motor_serial_driver/include/unitreeMotor/unitreeMotor.h b/src/unitree_motor_serial_driver/include/unitreeMotor/unitreeMotor.h
new file mode 100755
index 0000000..fbce3de
--- /dev/null
+++ b/src/unitree_motor_serial_driver/include/unitreeMotor/unitreeMotor.h
@@ -0,0 +1,74 @@
+#ifndef __UNITREEMOTOR_H
+#define __UNITREEMOTOR_H
+
+#include "unitreeMotor/include/motor_msg_GO-M8010-6.h"
+#include "unitreeMotor/include/motor_msg_A1B1.h"
+#include <stdint.h>
+#include <iostream>
+
+enum class MotorType{
+ A1, // 4.8M baudrate
+ B1, // 6.0M baudrate
+ GO_M8010_6
+};
+
+enum class MotorMode{
+ BRAKE,
+ FOC,
+ CALIBRATE
+};
+
+struct MotorCmd{
+ public:
+ MotorCmd(){}
+ MotorType motorType;
+ int hex_len;
+ unsigned short id;
+ unsigned short mode;
+ float tau;
+ float dq;
+ float q;
+ float kp;
+ float kd;
+
+ void modify_data(MotorCmd* motor_s);
+ uint8_t* get_motor_send_data();
+
+ COMData32 Res;
+ private:
+ ControlData_t GO_M8010_6_motor_send_data;
+ MasterComdDataV3 A1B1_motor_send_data;
+};
+
+struct MotorData{
+ public:
+ MotorData(){}
+ MotorType motorType;
+ int hex_len;
+ unsigned char motor_id;
+ unsigned char mode;
+ int temp;
+ int merror;
+ float tau;
+ float dq;
+ float q;
+
+ bool correct = false;
+ bool extract_data(MotorData* motor_r);
+ uint8_t* get_motor_recv_data();
+
+ int footForce;
+ float LW;
+ int Acc;
+
+ float gyro[3];
+ float acc[3];
+ private:
+ MotorData_t GO_M8010_6_motor_recv_data;
+ ServoComdDataV3 A1B1_motor_recv_data;
+};
+
+// Utility Function
+int queryMotorMode(MotorType motortype,MotorMode motormode);
+float queryGearRatio(MotorType motortype);
+#endif // UNITREEMOTOR_H
\ No newline at end of file
diff --git a/src/unitree_motor_serial_driver/include/unitree_motor_serial_driver/unitree_motor_serial_driver.hpp b/src/unitree_motor_serial_driver/include/unitree_motor_serial_driver/unitree_motor_serial_driver.hpp
new file mode 100644
index 0000000..717ee65
--- /dev/null
+++ b/src/unitree_motor_serial_driver/include/unitree_motor_serial_driver/unitree_motor_serial_driver.hpp
@@ -0,0 +1,34 @@
+#ifndef UNITREE_MOTOR_SERIAL_DRIVER_HPP
+#define UNITREE_MOTOR_SERIAL_DRIVER_HPP
+
+#include <chrono>
+#include <memory>
+#include "rclcpp/rclcpp.hpp"
+#include "serialPort/SerialPort.h"
+#include "unitreeMotor/unitreeMotor.h"
+
+
+namespace unitree_motor_serial_driver
+{
+
+struct Motor_t
+{
+ MotorCmd cmd;
+ MotorData data;
+};
+
+class MotorControlNode : public rclcpp::Node
+{
+public:
+ MotorControlNode();
+
+private:
+ void control_motor();
+
+ SerialPort serial_;
+ rclcpp::TimerBase::SharedPtr timer_;
+};
+
+}
+
+#endif
\ No newline at end of file
diff --git a/src/unitree_motor_serial_driver/launch/goM8010_6_motor.launch.py b/src/unitree_motor_serial_driver/launch/goM8010_6_motor.launch.py
new file mode 100644
index 0000000..c176e53
--- /dev/null
+++ b/src/unitree_motor_serial_driver/launch/goM8010_6_motor.launch.py
@@ -0,0 +1,15 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+ return LaunchDescription([
+ Node(
+ package='unitree_motor_serial_driver',
+ executable='goM8010_6_motor',
+ name='goM8010_6_motor',
+ output='screen',
+ parameters=[
+
+ ]
+ )
+ ])
\ No newline at end of file
diff --git a/src/unitree_motor_serial_driver/launch/unitree_motor_serial_driver.launch.py b/src/unitree_motor_serial_driver/launch/unitree_motor_serial_driver.launch.py
new file mode 100644
index 0000000..ebee65c
--- /dev/null
+++ b/src/unitree_motor_serial_driver/launch/unitree_motor_serial_driver.launch.py
@@ -0,0 +1,15 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+ return LaunchDescription([
+ Node(
+ package='unitree_motor_serial_driver',
+ executable='unitree_motor_serial_driver',
+ name='unitree_motor_serial_driver',
+ output='screen',
+ parameters=[
+
+ ]
+ )
+ ])
\ No newline at end of file
diff --git a/src/unitree_motor_serial_driver/package.xml b/src/unitree_motor_serial_driver/package.xml
new file mode 100644
index 0000000..baf1a84
--- /dev/null
+++ b/src/unitree_motor_serial_driver/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>unitree_motor_serial_driver</name>
+ <version>0.0.0</version>
+ <description>TODO: Package description</description>
+ <maintainer email="1683502971@qq.com">robofish</maintainer>
+ <license>TODO: License declaration</license>
+
+ <buildtool_depend>ament_cmake</buildtool_depend>
+
+ <depend>rclcpp</depend>
+ <depend>std_msgs</depend>
+
+ <test_depend>ament_lint_auto</test_depend>
+ <test_depend>ament_lint_common</test_depend>
+
+ <export>
+ <build_type>ament_cmake</build_type>
+ </export>
+</package>
diff --git a/src/unitree_motor_serial_driver/src/goM8010_6_motor.cpp b/src/unitree_motor_serial_driver/src/goM8010_6_motor.cpp
new file mode 100644
index 0000000..ba882f0
--- /dev/null
+++ b/src/unitree_motor_serial_driver/src/goM8010_6_motor.cpp
@@ -0,0 +1,51 @@
+#include <chrono>
+#include <memory>
+#include "rclcpp/rclcpp.hpp"
+#include "serialPort/SerialPort.h"
+#include "unitreeMotor/unitreeMotor.h"
+
+using namespace std::chrono_literals;
+
+class MotorControlNode : public rclcpp::Node
+{
+public:
+ MotorControlNode()
+ : Node("goM8010_6_motor"), serial_("/dev/ttyACM0")
+ {
+ timer_ = this->create_wall_timer(
+ 1ms, std::bind(&MotorControlNode::control_motor, this));
+ }
+
+private:
+ void control_motor()
+ {
+ MotorCmd cmd;
+ MotorData data;
+
+ cmd.motorType = MotorType::GO_M8010_6;
+ data.motorType = MotorType::GO_M8010_6;
+ cmd.mode = queryMotorMode(MotorType::GO_M8010_6, MotorMode::FOC);
+ cmd.id = 0;
+ cmd.q = 0.0;
+ cmd.dq = 0.0;
+ cmd.kp = 0.0;
+ cmd.kd = 0.0;
+ cmd.tau = 0.0;
+
+ serial_.sendRecv(&cmd, &data);
+
+ RCLCPP_INFO(this->get_logger(), "\nMotor.q: %f\nMotor.temp: %d\nMotor.W: %f\nMotor.tau: %f\n",
+ data.q, data.temp, data.dq, data.tau);
+ }
+
+ SerialPort serial_;
+ rclcpp::TimerBase::SharedPtr timer_;
+};
+
+int main(int argc, char **argv)
+{
+ rclcpp::init(argc, argv);
+ rclcpp::spin(std::make_shared<MotorControlNode>());
+ rclcpp::shutdown();
+ return 0;
+}
\ No newline at end of file
diff --git a/src/unitree_motor_serial_driver/src/unitree_motor_serial_driver.cpp b/src/unitree_motor_serial_driver/src/unitree_motor_serial_driver.cpp
new file mode 100644
index 0000000..bd436d5
--- /dev/null
+++ b/src/unitree_motor_serial_driver/src/unitree_motor_serial_driver.cpp
@@ -0,0 +1,42 @@
+#include "unitree_motor_serial_driver/unitree_motor_serial_driver.hpp"
+
+namespace unitree_motor_serial_driver
+{
+
+MotorControlNode::MotorControlNode()
+ : Node("unitree_motor_serial_driver"), serial_("/dev/ttyACM0")
+{
+ timer_ = this->create_wall_timer(
+ std::chrono::milliseconds(1), std::bind(&MotorControlNode::control_motor, this));
+}
+
+void MotorControlNode::control_motor()
+{
+ MotorCmd cmd;
+ MotorData data;
+
+ cmd.motorType = MotorType::GO_M8010_6;
+ data.motorType = MotorType::GO_M8010_6;
+ cmd.mode = queryMotorMode(MotorType::GO_M8010_6, MotorMode::FOC);
+ cmd.id = 0;
+ cmd.q = 0.0;
+ cmd.dq = 0.0;
+ cmd.kp = 0.0;
+ cmd.kd = 0.0;
+ cmd.tau = 0.0;
+
+ serial_.sendRecv(&cmd, &data);
+
+ RCLCPP_INFO(this->get_logger(), "\nMotor.q: %f\nMotor.temp: %d\nMotor.W: %f\nMotor.tau: %f\n",
+ data.q, data.temp, data.dq, data.tau);
+}
+
+} // namespace unitree_motor_serial_driver
+
+int main(int argc, char **argv)
+{
+ rclcpp::init(argc, argv);
+ rclcpp::spin(std::make_shared<unitree_motor_serial_driver::MotorControlNode>());
+ rclcpp::shutdown();
+ return 0;
+}
\ No newline at end of file