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.
29 lines
1.5 KiB
Plaintext
29 lines
1.5 KiB
Plaintext
BSD 3-Clause License
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Copyright (c) 2025, DEEPRoboticsLab
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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