caowangrenbo
cf70b1a1d7
Source: DeepRoboticsLab/sdk_deploy (BSD-3-Clause), M20 sim2real part only. Packages: - invicta_msgs: JointCommandArray, MotionCommand, MotionState; standard messages (sensor_msgs/JointState, sensor_msgs/Imu) elsewhere; shared motion value defs. - invicta_deploy: state machine (idle/standup/rl/joint-damping/lie-down), ONNX policy with per-gait models, auto RL entry after standup with readiness checks, safety loop, gait->model table; no protocol/network code. - invicta_remote: vendor basic_server protocol (UDP + JSON, proto.md V1.2.0), header/MsgId, 0xE0xx error codes, motion/usage-mode/gait translation, telemetry 1002/3,4,5,6 (2/10/2/2 Hz); publishes /motion_command, subscribes /motion_state. - invicta_hardware: joint/IMU bridge skeleton (SocketCAN I/O is TODO), publishes sensor_msgs/JointState + sensor_msgs/Imu, consumes /joint_commands. Verified on ROS Noetic (Ubuntu 20.04) in docker: clean catkin_make, 200 Hz joint state / 50 Hz RL commands / 20 Hz state report, protocol conformance (MotionParam, gait preconditions, error codes), telemetry push, and end-to-end switching of two policy models with a real remote controller.
12 lines
275 B
Plaintext
12 lines
275 B
Plaintext
# 编译产物
|
|
build/
|
|
devel/
|
|
install/
|
|
logs/
|
|
src/CMakeLists.txt # catkin_make 生成的软链
|
|
*.pyc
|
|
__pycache__/
|
|
|
|
# onnxruntime 动态库装到 devel/lib 下会被重复安装，不纳入版本管理
|
|
src/invicta_deploy/third_party/onnxruntime/*/lib/libonnxruntime.so.1.22.0
|