Sometimes we need to capture the pictures of two cameras on a Nano at the same time. At this time, we can create two transmission configuration files trans_rect_config_cam1.yaml and trans_rect_config_cam2.yaml, and then create two sending programs to run separately to send out the two cameras at the same time. Of course, it is also possible to transmit twice in the same program. This method is to use the serial port of the board to directly read the information of the ultrasonic module. Unitree provides the sdk for use. The sdk is located at ~/Unitree/sdk/ultraSoundSDK_RasPi (the one on Nano13 is also in the corresponding position). After the program starts, it will occupy the serial port, so before using this method, you need to kill the program that occupies the device. Desired x and y position in the inertial frame, which is established at the beginning instance of the sport mode. Position setting is used in mode 3 as target position. Solution: https://blog.csdn.net/n_fly/article/details/123270214 7.3.5.2 Error cannot find -ludev when compiling ¶

The sports mode is started and established, with the center of the fuselage as the origin, the forward direction is the x direction, the left direction is the y direction, and the vertical upward direction is the z direction. pls dont change] It's a switch in distortion process of fisheye camera. 1 represents “Longitude and latitude expansion of fisheye camera”; 2 represnets "Perspective distortion correction".Desired yaw-pitch-roll Euler angle, with euler[0] = Roll,euler[1] = Pitch,euler[2] = Yaw.RPY setting can be used in mode 1 as target orientation.Yaw setting can be used in mode 3 as target yaw angle.

Front camera Port ID=9201, Chin camera Port ID=9202, Left camera Port ID=9203, Right camera Port ID=9204, Belly camera Port ID=9205. The picture above is the code of the routine. Two programs are provided for testing. One is to use the same color for all lamp beads, and the other is to combine different colors of different lamp beads to form a new lighting effect.

The vector positioning mainly uses radio signals, when there is an obvious obstruction between humans and robots, there is a high probability that the robot will lose the actual position of the person. Therefore, when operating, we can artificially choose an ideal route of travel. We also asked Wang Xingxing, Unitree’s CEO, about how they were able to make Go1 so affordable, and here’s what he told us: