C++ API

Class Hierarchy

• • Struct odom_t
  • Struct pose_t
  • Struct position_t
  • Struct quarternion_t
  • Struct sensor_ranges_t
  • Struct velocity_t
  • Class UnitreeDriver
  • Class UnitreeRosNode
  • Enum gaitype_enum
  • Enum mode_enum
  • Enum robot_status_e
  • Enum speed_level_enum

File Hierarchy

• • Directory include
    • Directory unitree_ros
      • File common_defines.hpp
      • File serializers.hpp
      • File unitree_driver.hpp
      • File unitree_ros.hpp

Full C++ API

Namespaces

• Namespace rclcpp

Classes and Structs

• Struct odom_t

• Struct pose_t

• Struct position_t

• Struct quarternion_t

• Struct sensor_ranges_t

• Struct velocity_t

• Class UnitreeDriver

• Class UnitreeRosNode

Enums

• Enum gaitype_enum

• Enum mode_enum

• Enum robot_status_e

• Enum speed_level_enum

Functions

• Function serialize(nav_msgs::msg::Odometry&, const odom_t)

• Function serialize(sensor_msgs::msg::Imu&, const UNITREE_LEGGED_SDK::IMU)

• Function serialize(unitree_ros::msg::BmsState&, const UNITREE_LEGGED_SDK::BmsState)

• Function serialize(unitree_ros::msg::SensorRanges&, const sensor_ranges_t)

• Function serialize(sensor_msgs::msg::JointState&, const std::array<UNITREE_LEGGED_SDK::MotorState, 12>)

Directories

• Directory include

• Directory unitree_ros

Files

• File common_defines.hpp

• File serializers.hpp

• File unitree_driver.hpp

• File unitree_ros.hpp