Release v0.3.0

Bug Fixes

• ros2: fix the bug in Ros2 Foxy where topic_datistics_collector did not determine the header type and directly used headers.stamp, the Humble feature was marked in v0.2.0 and can now be used in Foxy as well

Examples

• example: add g1_audio_client_example

• example: add g1_dual_arm_example

• example: add g1_ankle_swing_example

• example: add g1_loco_client_example

• example: add g1_arm_action_example

• example: add g1_arm_sdk_dds_example

Features

• g1: add dex3 example, modify the dds msg to align with sdk2

BREAKING CHANGE

• HandCmd.msg HandState.msg PressSensorState.msg in cyclonedds_ws/src/unitree/unitree_hg/msg/ has been modified to align to sdk2,you can view the corresponding file to check the modification items.There is no recommended iteration method, you can update according to your own usage.

Release v0.2.0

Features

• deprecate: delete deprecated functions that are no longer supported

• go2: add support for RobotStateClient on ROS 2 Humble
  Now the APIs in the following list are supported:

name	value	example	ros2 version
ROBOT_STATE_API_ID_SERVICE_SWITCH	1001	int32_t RobotStateClient::ServiceSwitch();	humble
ROBOT_STATE_API_ID_SET_REPORT_FREQ	1002	int32_t RobotStateClient::SetReportFreq();	humble
ROBOT_STATE_API_ID_SERVICE_LIST	1003	int32_t RobotStateClient::ServiceList();	humble

At the same time, you can also refer to the API implementation in example/src/src/common/ros2_robot_state_client.cpp to communicate with Go2 using ROS2 on your own. An example is in the file example/src/src/go2/g2_robot_state_client.cpp.

• go2: add some new supported go2 sports APIs
  Now the APIs in the following list are supported:

name	value	example	ros2 version
ROBOT_SPORT_API_ID_HEART	1036	void SportClient::Heart();	foxy humble
ROBOT_SPORT_API_ID_STATICWALK	1061	void SportClient::StaticWalk();	foxy humble
ROBOT_SPORT_API_ID_TROTRUN	1062	void SportClient::TrotRun();	foxy humble
ROBOT_SPORT_API_ID_ECONOMICGAIT	1063	void SportClient::EconomicGait();	foxy humble
ROBOT_SPORT_API_ID_LEFTFLIP	2041	void SportClient::LeftFlip();	foxy humble
ROBOT_SPORT_API_ID_BACKFLIP	2043	void SportClient::BackFlip();	foxy humble
ROBOT_SPORT_API_ID_HANDSTAND	2044	void SportClient::HandStand();	foxy humble
ROBOT_SPORT_API_ID_FREEWALK	2045	void SportClient::FreeWalk();	foxy humble
ROBOT_SPORT_API_ID_FREEBOUND	2046	void SportClient::FreeBound();	foxy humble
ROBOT_SPORT_API_ID_FREEJUMP	2047	void SportClient::FreeJump();	foxy humble
ROBOT_SPORT_API_ID_FREEAVOID	2048	void SportClient::FreeAvoid();	foxy humble
ROBOT_SPORT_API_ID_CLASSICWALK	2049	void SportClient::ClassicWalk();	foxy humble
ROBOT_SPORT_API_ID_WALKUPRIGHT	2050	void SportClient::WalkUpright();	foxy humble
ROBOT_SPORT_API_ID_CROSSSTEP	2051	void SportClient::CrossStep();	foxy humble
ROBOT_SPORT_API_ID_AUTORECOVERY_SET	2054	void SportClient::AutoRecoverySet();	foxy humble
ROBOT_SPORT_API_ID_AUTORECOVERY_GET	2055	void SportClient::AutoRecoveryGet();	humble
ROBOT_SPORT_API_ID_SWITCHAVOIDMODE	2058	void SportClient::SwitchAvoidMode();	foxy humble

At the same time, you can also refer to the API implementation in example/src/src/common/ros2.sport_cient.cpp to communicate with Go2 using ROS2 on your own. An example is in the file example/src/src/go2/go2_Sport_cient.cpp.

BREAKING CHANGE

• The functions or API IDs in the following list are no longer supported. If you need to use a new version, please remove the following references:

API ID	Macro Definition	Function Name
1011	ROBOT_SPORT_API_ID_SWITCHGAIT	SwitchGait()
1012	ROBOT_SPORT_API_ID_TRIGGER	Trigger()
1013	ROBOT_SPORT_API_ID_BODYHEIGHT	BodyHeight()
1014	ROBOT_SPORT_API_ID_FOOTRAISEHEIGHT	FootRaiseHeight()
1018	ROBOT_SPORT_API_ID_TRAJECTORYFOLLOW	TrajectoryFollow()
1019	ROBOT_SPORT_API_ID_CONTINUOUSGAIT	ContinuousGait()
1021	ROBOT_SPORT_API_ID_WALLOW	Wallow()
1024	ROBOT_SPORT_API_ID_GETBODYHEIGHT	(No direct function)
1025	ROBOT_SPORT_API_ID_GETFOOTRAISEHEIGHT	(No direct function)
1026	ROBOT_SPORT_API_ID_GETSPEEDLEVEL	(No direct function)