# unitree_dds_wrapper

**Repository Path**: lilozhao/unitree_dds_wrapper

## Basic Information

- **Project Name**: unitree_dds_wrapper
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2024-12-27
- **Last Updated**: 2024-12-27

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Unitree DDS Wrapper

This project aims to simplify the communication with [Unitree Robots](https://github.com/unitreerobotics). `unitree_dds_wrapper` provides {robot}_sub, ${robot}_pub classes, Generated by IDL, with default values added

## Installation
Execute the following commands in the terminal:
```bash
git clone https://github.com/unitreerobotics/unitree_dds_wrapper.git
conda install pinocchio -c conda-forge
cd unitree_dds_wrapper/python
pip3 install -e . 
```
## Usage
If unitree_dds_wrapper has been installed successfully, then do a simple test:
```python
from unitree_dds_wrapper.publisher import Publisher
from unitree_dds_wrapper.subscription import Subscription
from unitree_dds_wrapper.idl import unitree_go
import time

msg_type = unitree_go.msg.dds_.LowState_
pub = Publisher(message=msg_type, topic="rt/test_dds")
sub = Subscription(message=msg_type, topic="rt/test_dds")

while True:
  pub.msg.level_flag = 1 - pub.msg.level_flag
  pub.write()
  time.sleep(0.5)

  print("send: ", pub.msg.level_flag)

  if sub.msg:
    print("receive: ", sub.msg.level_flag)
```