search

unitreerobotics / unitree_legged_sdk

SDK tools for control robots.
BSD 3-Clause "New" or "Revised" License
283 stars 156 forks source link

Bus error on A1's Raspberry Pi with 3.2 release #79

Closed thschafer closed 1 year ago

thschafer commented 1 year ago

Running example_position yields the following:

pi@raspberrypi:~/unitree_legged_sdk/build$ sudo ./example_position
Communication level is set to LOW-level.
WARNING: Make sure the robot is hung up.
Press Enter to continue...

UDP Initialized. Port: 8080
[Loop Start] named: udp_send, period: 2(ms), run at cpu: 3
[Loop Start] named: udp_recv, period: 2(ms), run at cpu: 3
[Loop Start] named: control_loop, period: 2(ms), cpu unspecified
1  -0.180824
2  -0.180824
3  -0.180821
4  -0.180825
5  -0.180826
6  -0.180830
7  -0.180836
8  -0.180848
9  -0.180865
10  -0.180880
11  -0.180907
Bus error

The same version of the unitree_legged_sdk + example_position works without issue on the A1's x86. Is there a way to fix this so I can run from the Raspberry Pi?

thschafer commented 1 year ago

It occurs to me that LCM should probably be used from the Raspberry Pi, though I have not yet tested it.

thschafer commented 1 year ago

Control via LCM was demonstrated from the Pi using unitree_ros_to_real v3.2.1