feat: update loco client interface for G1

Author: craipy-hub

example/g1/high_level/g1_loco_client_example.cpp

@@ -255,6 +255,11 @@ int main(int argc, char const *argv[]) {
       std::cout << "wave hand with turn" << std::endl;
     }
 
+    if (arg_pair.first == "set_speed_mode") {
+      client.SetSpeedMode(std::stoi(arg_pair.second));
+      std::cout << "set speed mode" << std::endl;
+    }
+
     std::cout << "Done!" << std::endl;
   }
 

include/unitree/robot/g1/loco/g1_loco_api.hpp

@@ -8,7 +8,7 @@ namespace unitree {
 namespace robot {
 namespace g1 {
 /*service name*/
-const std::string LOCO_SERVICE_NAME = "loco";
+const std::string LOCO_SERVICE_NAME = "sport";
 
 /*api version*/
 const std::string LOCO_API_VERSION = "1.0.0.0";
@@ -27,6 +27,7 @@ const int32_t ROBOT_API_ID_LOCO_SET_SWING_HEIGHT = 7103;
 const int32_t ROBOT_API_ID_LOCO_SET_STAND_HEIGHT = 7104;
 const int32_t ROBOT_API_ID_LOCO_SET_VELOCITY = 7105;
 const int32_t ROBOT_API_ID_LOCO_SET_ARM_TASK = 7106;
+const int32_t ROBOT_API_ID_LOCO_SET_SPEED_MODE = 7107;
 
 using LocoCmd =
     std::map<std::string, std::variant<int, float, std::vector<float>>>;

include/unitree/robot/g1/loco/g1_loco_client.hpp

@@ -30,6 +30,7 @@ class LocoClient : public Client {
     UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_STAND_HEIGHT);
     UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_VELOCITY);
     UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_ARM_TASK);
+    UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_SPEED_MODE);
   };
 
   /*Low Level API Call*/
@@ -231,7 +232,17 @@ class LocoClient : public Client {
     }
   }
 
- private:
+  int32_t SetSpeedMode(int speed_mode) {
+    std::string parameter, data;
+
+    go2::JsonizeDataInt json;
+    json.data = speed_mode;
+    parameter = common::ToJsonString(json);
+
+    return Call(ROBOT_API_ID_LOCO_SET_SPEED_MODE, parameter, data);
+  }
+
+private:
   bool continous_move_ = false;
   bool first_shake_hand_stage_ = true;
 };