SDK开发

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SDK 概述

系统架构图

D1 提供ros2 SDK，主要的数据交互采用两种模式：订阅/发布和请求/响应。

• 订阅/发布： 接收方订阅某个消息，发送方根据订阅列表向接收方发送消息，主要用于中高频或持续的数据交互。

• 请求/响应： 问答模式，通过请求实现数据获取或操作。用于低频或功能切换时的数据交互。

详细参见Quick Start。

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下层控制示例

应用示例

这是一个关于如何使用 tita_robot 包来控制机器人关节并获取电池信息等示例。仅在真机上使用，同时请认真读readme.md 文档。 参考示例：https://github.com/DDTRobot/ddt_ros2_control/tree/compress_v1/hardware/examples

运动控制接口

（1） 设置电机力矩

 /**
     * @brief Set the target joint feed-forward torques.
     * @param t the target joint feed-forward torques.
     * @return return true if the target is set successfully.
     */
  bool set_target_joint_t(const std::vector<double> & t);

（2）设置电机PD控制

  /**
     * @brief MIT control method. Set the target joint positions, velocities, kp, kd and feed-forward torques of the
     motors.
     * @param q the target joint positions in radians.
     * @param v the target joint velocities in radians per second.
     * @param kp the target joint proportional gains.
     * @param kd the target joint derivative gains.
     * @param t the target joint feed-forward torques.
     *
     * @return return true if the target is set successfully
     */
  bool set_target_joint_mit(
    const std::vector<double> & q, const std::vector<double> & v, const std::vector<double> & kp,
    const std::vector<double> & kd, const std::vector<double> & t);

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数据读取接口

电池状态查询接口

用于实时获取机器人电池的各项关键参数，支撑电量管理、低电量预警等功能。

  /**
     * @brief Get the current battery is connected.
     * @param index: the index of battery.
     * @return bool: if battery is connected, return true.
     */
  bool get_battery_is_connected(int index) const;
  /**
     * @brief Get the current battery voltage.
     * @param index: the index of battery.
     * @return float: current battery voltage in volts.
     */
  float get_battery_voltage(int index) const;
  /**
     * @brief Get the current battery temperature.
     * @param index: the index of battery.
     * @return float: current battery temperature in degrees Celsius.
     */
  float get_battery_temperature(int index) const;
  /**
     * @brief Get the current battery current.
     * @param index: the index of battery.
     * @return float: current battery current in amperes.
     */
  float get_battery_current(int index) const;
  /**
     * @brief Get the current battery percentage.
     * @param index: the index of battery.
     * @return float: current battery percentage in percent.
     */
  float get_battery_percentage(int index) const;
  /**
     * @brief Get the current battery cell voltage.
     * @param index: the index of battery.
     * @return std::vector<float>: current battery cell voltage in volts.
     */
  std::vector<float> get_battery_cell_voltage(int index) const;

机器人核心状态获取接口

用于获取机器人运动控制、姿态感知的关键数据，为运动规划、姿态调整提供基础，涵盖 IMU（惯性测量单元）、电机、关节三大模块：

/**
     * @brief Get the current states update timeout.
     * @return bool: if current states not update, return true.
     */
  bool imu_data_timeout() const;
  /**
     * @brief Get the current states update timeout.
     * @return bool: if current states not update, return true.
     */
  bool motors_data_timeout() const;
  /**
     * @brief Get the current joint positions in joint space.
     * @return std::vector<double>: current joint positions in radians.
     */
  std::vector<double> get_joint_q() const;

  /**
     * @brief Get the current joint velocities in joint space.
     * @return std::vector<double>: current joint velocities in radians per second.
     */
  std::vector<double> get_joint_v() const;

  /**
     * @brief Get the current joint torques in joint space.
     * @return std::vector<double>: current joint torques in Newton meters.
     */
  std::vector<double> get_joint_t() const;

  /**
     * @brief Get the current joint status.
     * @note Joints status now is in bool value, true means the joint is online(TODO).
     * @return std::vector<uint16_t>: current joint status.
     */
  std::vector<uint16_t> get_joint_status() const;
  /**
     * @brief Get the current imu quaternion of mcu.
     * @note Quaternion sequence is x y z w.
     * @return std::array<double, 4>: current quaternion.
     */
  std::array<double, 4> get_imu_quaternion() const;  // x y z w

  /**
     * @brief Get the current imu acceleration of mcu.
     * @return std::array<double, 3>: current acceleration.
     */
  std::array<double, 3> get_imu_acceleration() const;

  /**
     * @brief Get the current imu angular velocity of mcu.
     * @return std::array<double, 3>: current angular velocity.
     */
  std::array<double, 3> get_imu_angular_velocity() const;

  /**
     * @brief Set the target joint feed-forward torques.
     * @param t the target joint feed-forward torques.
     * @return return true if the target is set successfully.
     */
  bool set_target_joint_t(const std::vector<double> & t);

  /**
     * @brief MIT control method. Set the target joint positions, velocities, kp, kd and feed-forward torques of the
     motors.
     * @param q the target joint positions in radians.
     * @param v the target joint velocities in radians per second.
     * @param kp the target joint proportional gains.
     * @param kd the target joint derivative gains.
     * @param t the target joint feed-forward torques.
     *
     * @return return true if the target is set successfully
     */
  bool set_target_joint_mit(
    const std::vector<double> & q, const std::vector<double> & v, const std::vector<double> & kp,
    const std::vector<double> & kd, const std::vector<double> & t);