Skip to content

Latest commit

 

History

History
208 lines (166 loc) · 7.23 KB

README_zh-CN.md

File metadata and controls

208 lines (166 loc) · 7.23 KB

0. 📖 介绍

这是一个用于 Dex1_1 夹爪的 serial2dds 服务。

Dex1_1 是 Unitree 开发的夹爪，为具⾝智能应⽤⽽⽣。

dex1-1 gripper 

graph LR
A(user) -- rt/dex1/right/cmd --> B(dex1_1, motor_id = 0)
B(dex1_1, motor_id = 0) -- rt/dex1/right/state --> A(user)

C(user) -- rt/dex1/left/cmd --> D(dex1_1, motor_id = 1)
D(dex1_1, motor_id = 1) -- rt/dex1/left/state --> C(user)
Loading

1. 📦 安装

# 在用户开发计算单元 PC2（NVIDIA Jetson Orin NX 板）
sudo apt install libspdlog-dev libboost-all-dev libyaml-cpp-dev libfmt-dev
cd ~
git clone https://github.com/unitreerobotics/dex1_1_service
cd dex1_1_service
mkdir build && cd build
cmake ..
make -j6

2. 🚀 启动

# 运行 `sudo ./dex1_1_gripper_server -h` 查看帮助详情。输出为：
# Unitree Dex1-1 Gripper Server:
#   -h [ --help ]                produce help message
#   -v [ --version ]             show version
#   -n [ --network ] arg (=eth0) dds networkInterface
#   -c [ --calibration ]         calibrate the gripper motor

# 启动服务器
sudo ./dex1_1_gripper_server --network eth0
# 简化方式（默认参数）
sudo ./dex1_1_gripper_server

# 运行 `sudo ./test_dex1_1_gripper_server -h` 查看帮助详情。输出为：
# Unitree Dex1-1 Gripper Server Test:
#   -h [ --help ]                produce help message
#   -v [ --version ]             show version
#   -n [ --network ] arg (=eth0) dds networkInterface
#   -l [ --left ]                test left dex1 gripper
#   -r [ --right ]               test right dex1 gripper

# 运行测试示例
sudo ./test_dex1_1_gripper_server --network eth0 -l -r
# 仅测试左侧或右侧夹爪
sudo ./test_dex1_1_gripper_server --network eth0 -l
# 或仅测试右侧夹爪
sudo ./test_dex1_1_gripper_server -r

3. 📏 标定

💡 注意：电机 ID 为 0 时，设定为右侧夹爪； ID 为 1 时，设定为左侧夹爪

闭合夹爪并运行以下命令进行电机标定。

sudo ./dex1_1_gripper_server -c

以下是标定过程示例输出。

unitree@ubuntu:~/dex1_1_service/build$ sudo ./dex1_1_gripper_server -c
[2025-01-01 00:00:26.514] [info] Available Serial Ports: /dev/ttyUSB3, /dev/ttyUSB2, /dev/ttyUSB1, /dev/ttyUSB0
[2025-01-01 00:00:26.669] [info] Detected motors:
[2025-01-01 00:00:26.669] [info]   - Motor ID: 0         Side: Right     Port: /dev/ttyUSB2      cmdTopic: rt/dex1/right/cmd     stateTopic: rt/dex1/right/state
[2025-01-01 00:00:26.669] [info]   - Motor ID: 1         Side: Left      Port: /dev/ttyUSB1      cmdTopic: rt/dex1/left/cmd      stateTopic: rt/dex1/left/state
[2025-01-01 00:00:26.669] [info] ========== Motor Calibration (Motor 1 (index) of 2 (total)) ==========
[2025-01-01 00:00:26.669] [info]   - Motor ID: 0,        Side: Right,    Port: /dev/ttyUSB2
[2025-01-01 00:00:26.669] [info] Please manually close the gripper tightly. 
                                 Then press 's' + Enter to calibrate, or any other key to skip.
>

你需要像图中一样手动紧闭夹爪。

close gripper

紧闭合后，按 s 键，然后 Enter。

> s
[2025-01-01 00:00:28.024] [info] Calibrating motor 0...
Motor type: MotorType::M4010
Id: 0
Calibration successful!
[2025-01-01 00:00:28.042] [info] Motor 0 calibration successful.
[2025-01-01 00:00:28.042] [info] ========== Motor Calibration (Motor 2 (index) of 2 (total)) ==========
[2025-01-01 00:00:28.042] [info]   - Motor ID: 1,        Side: Left,     Port: /dev/ttyUSB1
[2025-01-01 00:00:28.042] [info] Please manually close the gripper tightly. 
                                 Then press 's' + Enter to calibrate, or any other key to skip.
>

与上一步相同，继续标定第二个夹爪。

> s
[2025-01-01 00:00:28.881] [info] Calibrating motor 1...
Motor type: MotorType::M4010
Id: 1
Calibration successful!
[2025-01-01 00:00:28.903] [info] Motor 1 calibration successful.
[2025-01-01 00:00:28.903] [info] Calibration process completed.

检查结果。

unitree@ubuntu:~/dex1_1_service/build$ sudo ./test_dex1_1_gripper_server -l -r
# 夹爪初始位置应接近零
[2025-01-01 00:00:13.776] [info] Right gripper init at q = 0.001
[2025-01-01 00:00:14.978] [info] Left gripper init at q = 0.000
R= 0.508 L= 0.502

4. 🚀🚀🚀 开机自启服务

在完成上述设置和配置，并成功测试 dex1_1_gripper_server 后，你可以通过运行以下脚本，将 dex1_1_gripper_server 配置为系统启动时自动运行：

bash setup_autostart.sh

按照脚本中的提示完成配置。

❓ 常见问题

  1. make -j6 出错：

    unitree@ubuntu:~/dex1_1_service/build$ make -j6
Scanning dependencies of target dex1_1_gripper_server
Scanning dependencies of target test_dex1_1_gripper_server
[ 50%] Building CXX object CMakeFiles/test_dex1_1_gripper_server.dir/test/test_gripper.cpp.o
[ 50%] Building CXX object CMakeFiles/dex1_1_gripper_server.dir/main.cpp.o
/home/unitree/dex1_1_service/test/test_gripper.cpp:1:10: fatal error: unitree/idl/go2/MotorCmds_.hpp: No such file or directory
    1 | #include <unitree/idl/go2/MotorCmds_.hpp>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/unitree/dex1_1_service/main.cpp:1:10: fatal error: unitree/idl/go2/MotorCmds_.hpp: No such file or directory
    1 | #include <unitree/idl/go2/MotorCmds_.hpp>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
compilation terminated.

    该错误说明 unitree_sdk2 头文件未找到。先编译并安装 unitree_sdk2：

    cd ~
git clone https://github.com/unitreerobotics/unitree_sdk2
cd unitree_sdk2
mkdir build & cd build
cmake ..
sudo make install

  2. sudo ./dex1_1_gripper_server 出错：

    unitree@ubuntu:~/dex1_1_service/build$ sudo ./dex1_1_gripper_server
[2025-08-14 09:56:53.595] [info] Available Serial Ports: /dev/ttyUSB3, /dev/ttyUSB2, /dev/ttyUSB1, /dev/ttyUSB0
[2025-08-14 09:56:54.339] [error] Motors not found after multiple attempts.
# or
unitree@ubuntu:~/dex1_1_service/build$ sudo ./dex1_1_gripper_server
[2025-08-14 09:58:12.010] [info] Available Serial Ports: 
[2025-08-14 09:58:12.010] [warning] No ttyUSB serial ports found.

    上述两种情况为：

    1. 夹爪电源未连接或线路接触不良。
    2. 夹爪串口板（连接到 G1 USB 口）未连接或线路接触不良。