walter Documentation

walter

A high level API to controlling a Unitree A1 robot.

Installing

Clone the repository and its submodules:

git clone https://github.com/RoboticsTeam4904/walter.git
git submodule init
git submodule update

Building

This project depends on the Conan package manager. It will only compile on Linux machines as the Unitree SDK is solely in the form of a specific static object file and cannot be linked properly on other operating systems do to its format.

mkdir build && cd build
conan create ../lcm-recipe/ -o lcm:shared=True
conan install .. --build
cmake ..
make -C ..

The binary is then located at bin/walter and documentation at docs/html/index.html.

Usage

After initializing the Bot class, specify a series of commands through its members. These commands are not run in real time, but run sequentially as soon as Bot::execute() is called.

A sample usage would look like:

#include "bot.h"

int main() {
    Bot bot{};
    bot.move_y(5, 0.2);
    bot.rotate(pi/10, pi/3);
    bot.execute();
}