Problem with recompiling LCM_position

[hanzhi0410]

When I used A1's SDK to regenerate LCM_position, the following issues occurred

/home/hn/legged_RL/walk-these-ways/a1_gym_deploy/unitree_legged_sdk_bin/lcm_position.cpp: In constructor ‘Custom::Custom(uint8_t)’: /home/hn/legged_RL/walk-these-ways/a1_gym_deploy/unitree_legged_sdk_bin/lcm_position.cpp:24:67: error: invalid conversion from ‘const char*’ to ‘int’ [-fpermissive] 24 | Custom(uint8_t level): safe(LeggedType::A1), udp(level, 8090, "192.168.123.10", 8007) { | ^~~~~~~~~~~~~~~~ | | | const char* In file included from /home/hn/legged_RL/walk-these-ways/a1_gym_deploy/unitree_legged_sdk_bin/unitree_legged_sdk/unitree_legged_sdk.h:11, from /home/hn/legged_RL/walk-these-ways/a1_gym_deploy/unitree_legged_sdk_bin/lcm_position.cpp:5: /home/hn/legged_RL/walk-these-ways/a1_gym_deploy/unitree_legged_sdk_bin/unitree_legged_sdk/udp.h:26:54: note: initializing argument 3 of ‘UNITREE_LEGGED_SDK::UDP::UDP(uint16_t, uint16_t, int, int)’ 26 | UDP(uint16_t localPort, uint16_t targetPort, int sendLength, int recvLength); // as server, client IP can change | ~~~~^~~~~~~~~~ make[2]: *** [CMakeFiles/lcm_position.dir/build.make:63：CMakeFiles/lcm_position.dir/unitree_legged_sdk_bin/lcm_position.cpp.o] 错误 1 make[1]: *** [CMakeFiles/Makefile2:105：CMakeFiles/lcm_position.dir/all] 错误 2 make: *** [Makefile:84：all] 错误 2

I have reviewed the relevant udp. h file again，discovered corresponding content in sdk-3.8.0 used by go1. namespace UNITREE_LEGGED_SDK { constexpr int UDP_CLIENT_PORT = 8080; // local port constexpr int UDP_SERVER_PORT = 8007; // target port constexpr char UDP_SERVER_IP_BASIC[] = "192.168.123.10"; // target IP address constexpr char UDP_SERVER_IP_SPORT[] = "192.168.123.161"; // target IP address

typedef enum {
    nonBlock     = 0x00,
    block        = 0x01,
    blockTimeout = 0x02,
} RecvEnum;

// Notice: User defined data(like struct) should add crc(4Byte) at the end.
class UDP {
public:
    UDP(uint8_t level, uint16_t localPort, const char* targetIP, uint16_t targetPort);  // udp use dafault length according to level
    UDP(uint16_t localPort, const char* targetIP, uint16_t targetPort, 
        int sendLength, int recvLength, bool initiativeDisconnect = false, RecvEnum recvType = RecvEnum::nonBlock);
    UDP(uint16_t localPort, 
        int sendLength, int recvLength, bool initiativeDisconnect = false, RecvEnum recvType = RecvEnum::nonBlock, bool setIpPort = false);  
    ~UDP();

But the content in my SDK-3.2 has changed as follows namespace UNITREE_LEGGED_SDK { constexpr int UDP_CLIENT_PORT = 8090; // local port constexpr int UDP_SERVER_PORT = 8007; // target port constexpr char UDP_SERVER_IP_BASIC[] = "192.168.123.10"; // target IP address constexpr char UDP_SERVER_IP_SPORT[] = "192.168.123.161"; // target IP address

// Notice: User defined data(like struct) should add crc(4Byte) at the end. class UDP { public: UDP(uint8_t level, HighLevelType highControl = HighLevelType::Basic); // unitree dafault IP and Port UDP(uint16_t localPort, const char* targetIP, uint16_t targetPort, int sendLength, int recvLength); UDP(uint16_t localPort, uint16_t targetPort, int sendLength, int recvLength); // as server, client IP can change ~UDP();

Do you have a good solution

[hanzhi0410]

I have found a solution by changing LCM to Custom (uint8_t level): safe (LeggedType:: A1), udp (level)

[gmargo11]

Glad you found a solution, @hanzhi0410 ! Hope you found the repository useful in your work on A1.

-Gabe