Update to v1.0.8

unitree_lidar_sdk/CMakeLists.txt

@@ -3,8 +3,8 @@ project(unitree_lidar_sdk)
 
 set(CMAKE_BUILD_TYPE "Release")
 set(CMAKE_CXX_FLAGS "-std=c++14")
-set(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g2 -ggdb -llz4")
-set(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall -DNDEBUG -llz4") 
+set(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g2 -ggdb")
+set(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall -DNDEBUG") 
 
 include_directories(include)
 

unitree_lidar_sdk/README.md

@@ -148,4 +148,9 @@ sudo usermod -a -G dialout $USER
 ### v1.0.7 (2023.06.21)
 - Support firmware version: 1.0.1
 - Add coordinate system definition in readme
-- Modified readme of `unitree_lidar_ros` and `unitree_lidar_ros2`
+- Modified readme of `unitree_lidar_ros` and `unitree_lidar_ros2`
+
+### v1.0.8 (2023.06.28)
+- Support firmware version: 1.0.1
+- Solve the dependency problem --- `cannot find -llz4`
+- Add mavlink headers for optional use

unitree_lidar_sdk/examples/example_lidar.cpp

@@ -74,7 +74,7 @@ int main(){
 
   printf("\n");
   sleep(2);
-
+  
   // Set Lidar Working Mode
   printf("Set Lidar working mode to: NORMAL_MODE ... \n");
   lreader->setLidarWorkingMode(NORMAL);

unitree_lidar_sdk/mavlink/SysMavlink/SysMavlink.h

@@ -0,0 +1,136 @@
+/** @file
+ *  @brief MAVLink comm protocol generated from SysMavlink.xml
+ *  @see http://mavlink.org
+ */
+#pragma once
+#ifndef MAVLINK_SYSMAVLINK_H
+#define MAVLINK_SYSMAVLINK_H
+
+#ifndef MAVLINK_H
+    #error Wrong include order: MAVLINK_SYSMAVLINK.H MUST NOT BE DIRECTLY USED. Include mavlink.h from the same directory instead or set ALL AND EVERY defines from MAVLINK.H manually accordingly, including the #define MAVLINK_H call.
+#endif
+
+#undef MAVLINK_THIS_XML_HASH
+#define MAVLINK_THIS_XML_HASH -8759955630894977959
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// MESSAGE LENGTHS AND CRCS
+
+#ifndef MAVLINK_MESSAGE_LENGTHS
+#define MAVLINK_MESSAGE_LENGTHS {}
+#endif
+
+#ifndef MAVLINK_MESSAGE_CRCS
+#define MAVLINK_MESSAGE_CRCS {{11, 106, 1, 1, 0, 0, 0}, {12, 204, 1, 1, 0, 0, 0}, {13, 62, 38, 38, 0, 0, 0}, {14, 84, 1, 1, 0, 0, 0}, {15, 236, 56, 56, 0, 0, 0}, {16, 74, 246, 246, 0, 0, 0}, {17, 99, 209, 209, 0, 0, 0}, {18, 12, 5, 5, 0, 0, 0}, {19, 110, 42, 42, 0, 0, 0}, {121, 228, 1, 1, 0, 0, 0}, {122, 151, 20, 20, 0, 0, 0}, {123, 10, 61, 61, 0, 0, 0}, {124, 68, 44, 44, 0, 0, 0}, {125, 149, 36, 36, 0, 0, 0}, {126, 25, 1, 1, 0, 0, 0}}
+#endif
+
+#include "../protocol.h"
+
+#define MAVLINK_ENABLED_SYSMAVLINK
+
+// ENUM DEFINITIONS
+
+/** @brief  */
+#ifndef HAVE_ENUM_LIDAR_WORKING_MODE
+#define HAVE_ENUM_LIDAR_WORKING_MODE
+typedef enum LIDAR_WORKING_MODE
+{
+   NORMAL_MODE=1, /* Configure the LiDAR to operate in normal mode. | */
+   STANDBY_MODE=2, /* Configure the LiDAR to enter standby mode. | */
+   LIDAR_WORKING_MODE_ENUM_END=3, /*  | */
+} LIDAR_WORKING_MODE;
+#endif
+
+/** @brief  */
+#ifndef HAVE_ENUM_DEVICE_REQUEST_DATA_TYPE
+#define HAVE_ENUM_DEVICE_REQUEST_DATA_TYPE
+typedef enum DEVICE_REQUEST_DATA_TYPE
+{
+   DATA_REQUEST_CLOCK_SYNC=1, /* Request for device state | */
+   CMD_LIDAR_VERSION=2, /* Request get firmware version | */
+   DEVICE_REQUEST_DATA_TYPE_ENUM_END=3, /*  | */
+} DEVICE_REQUEST_DATA_TYPE;
+#endif
+
+/** @brief  */
+#ifndef HAVE_ENUM_DEVICE_COMMAND_TYPE
+#define HAVE_ENUM_DEVICE_COMMAND_TYPE
+typedef enum DEVICE_COMMAND_TYPE
+{
+   CMD_LIDAR_SAVE_FLASH=1, /* Save lidar configuration to Flash memory | */
+   CMD_LIDAR_REBOOT=2, /* Reboot lidar | */
+   DEVICE_COMMAND_TYPE_ENUM_END=3, /*  | */
+} DEVICE_COMMAND_TYPE;
+#endif
+
+/** @brief  */
+#ifndef HAVE_ENUM_SYNC_TIME_TYPE
+#define HAVE_ENUM_SYNC_TIME_TYPE
+typedef enum SYNC_TIME_TYPE
+{
+   CMD_SYNC_TIME_REQUEST=1, /* Lidar sync time request start | */
+   CMD_SYNC_TIME_RESPONSE=2, /* Lidar sync time request response | */
+   SYNC_TIME_TYPE_ENUM_END=3, /*  | */
+} SYNC_TIME_TYPE;
+#endif
+
+/** @brief  */
+#ifndef HAVE_ENUM_LED_DISPLAY_MODE_SELECT
+#define HAVE_ENUM_LED_DISPLAY_MODE_SELECT
+typedef enum LED_DISPLAY_MODE_SELECT
+{
+   LED_RING_COMMAND_MODE=1, /* Command display mode. | */
+   LED_RING_FUN_FORWARD_SLOW_MODE=2, /* Function mode forward at slow. | */
+   LED_RING_FUN_FORWARD_FAST_MODE=3, /* Function mode forward at fast. | */
+   LED_RING_FUN_REVERSE_SLOW_MODE=4, /* Function mode reverse at slow. | */
+   LED_RING_FUN_REVERSE_FAST_MODE=5, /* Function mode reverse at fast. | */
+   LED_RING_FUN_TRIPLE_FLIP_MODE=6, /* Function mode triple flip. | */
+   LED_RING_FUN_TRIPLE_BREATHING_MODE=7, /* Function mode triple breathing. | */
+   LED_RING_FUN_SIXSTAGE_BREATHING_MODE=8, /* Function mode six-stage breathing. | */
+   LED_DISPLAY_MODE_SELECT_ENUM_END=9, /*  | */
+} LED_DISPLAY_MODE_SELECT;
+#endif
+
+// MAVLINK VERSION
+
+#ifndef MAVLINK_VERSION
+#define MAVLINK_VERSION 33
+#endif
+
+#if (MAVLINK_VERSION == 0)
+#undef MAVLINK_VERSION
+#define MAVLINK_VERSION 33
+#endif
+
+// MESSAGE DEFINITIONS
+#include "./mavlink_msg_device_request_data.h"
+#include "./mavlink_msg_device_command.h"
+#include "./mavlink_msg_ret_lidar_version.h"
+#include "./mavlink_msg_config_lidar_working_mode.h"
+#include "./mavlink_msg_config_led_ring_table_packet.h"
+#include "./mavlink_msg_ret_lidar_distance_data_packet.h"
+#include "./mavlink_msg_ret_lidar_auxiliary_data_packet.h"
+#include "./mavlink_msg_ret_lidar_time_sync_data.h"
+#include "./mavlink_msg_ret_imu_attitude_data_packet.h"
+
+// base include
+
+
+#undef MAVLINK_THIS_XML_HASH
+#define MAVLINK_THIS_XML_HASH -8759955630894977959
+
+#if MAVLINK_THIS_XML_HASH == MAVLINK_PRIMARY_XML_HASH
+# define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_DEVICE_REQUEST_DATA, MAVLINK_MESSAGE_INFO_DEVICE_COMMAND, MAVLINK_MESSAGE_INFO_RET_LIDAR_VERSION, MAVLINK_MESSAGE_INFO_CONFIG_LIDAR_WORKING_MODE, MAVLINK_MESSAGE_INFO_CONFIG_LED_RING_TABLE_PACKET, MAVLINK_MESSAGE_INFO_RET_LIDAR_DISTANCE_DATA_PACKET, MAVLINK_MESSAGE_INFO_RET_LIDAR_AUXILIARY_DATA_PACKET, MAVLINK_MESSAGE_INFO_RET_LIDAR_TIME_SYNC_DATA, MAVLINK_MESSAGE_INFO_RET_IMU_ATTITUDE_DATA_PACKET, MAVLINK_MESSAGE_INFO_DEVICE_REQUEST_ANSWER, MAVLINK_MESSAGE_INFO_DEVICE_DEBUG_MODE_PARAMS, MAVLINK_MESSAGE_INFO_SET_COM_NECESSARY_MEASURE_PARAMETER, MAVLINK_MESSAGE_INFO_SET_SYS_NECESSARY_MEASURE_PARAMETER, MAVLINK_MESSAGE_INFO_RET_TDC_POINT_DEBUG_PACKET, MAVLINK_MESSAGE_INFO_DEVICE_REQUEST_INTERNAL_DATA}
+# define MAVLINK_MESSAGE_NAMES {{ "CONFIG_LED_RING_TABLE_PACKET", 15 }, { "CONFIG_LIDAR_WORKING_MODE", 14 }, { "DEVICE_COMMAND", 12 }, { "DEVICE_DEBUG_MODE_PARAMS", 122 }, { "DEVICE_REQUEST_ANSWER", 121 }, { "DEVICE_REQUEST_DATA", 11 }, { "DEVICE_REQUEST_INTERNAL_DATA", 126 }, { "RET_IMU_ATTITUDE_DATA_PACKET", 19 }, { "RET_LIDAR_AUXILIARY_DATA_PACKET", 17 }, { "RET_LIDAR_DISTANCE_DATA_PACKET", 16 }, { "RET_LIDAR_TIME_SYNC_DATA", 18 }, { "RET_LIDAR_VERSION", 13 }, { "RET_TDC_POINT_DEBUG_PACKET", 125 }, { "SET_COM_NECESSARY_MEASURE_PARAMETER", 123 }, { "SET_SYS_NECESSARY_MEASURE_PARAMETER", 124 }}
+# if MAVLINK_COMMAND_24BIT
+#  include "../mavlink_get_info.h"
+# endif
+#endif
+
+#ifdef __cplusplus
+}
+#endif // __cplusplus
+#endif // MAVLINK_SYSMAVLINK_H

unitree_lidar_sdk/mavlink/SysMavlink/mavlink.h

@@ -0,0 +1,34 @@
+/** @file
+ *  @brief MAVLink comm protocol built from SysMavlink.xml
+ *  @see http://mavlink.org
+ */
+#pragma once
+#ifndef MAVLINK_H
+#define MAVLINK_H
+
+#define MAVLINK_PRIMARY_XML_HASH -8759955630894977959
+
+#ifndef MAVLINK_STX
+#define MAVLINK_STX 253
+#endif
+
+#ifndef MAVLINK_ENDIAN
+#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
+#endif
+
+#ifndef MAVLINK_ALIGNED_FIELDS
+#define MAVLINK_ALIGNED_FIELDS 1
+#endif
+
+#ifndef MAVLINK_CRC_EXTRA
+#define MAVLINK_CRC_EXTRA 1
+#endif
+
+#ifndef MAVLINK_COMMAND_24BIT
+#define MAVLINK_COMMAND_24BIT 1
+#endif
+
+#include "version.h"
+#include "SysMavlink.h"
+
+#endif // MAVLINK_H