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add '#ifdef COMPILE_WITH_REAL_ROBOT' #32

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76 changes: 40 additions & 36 deletions unitree_guide/include/interface/IOSDK.h
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Original file line number Diff line number Diff line change
@@ -1,36 +1,40 @@
/**********************************************************************
Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.
***********************************************************************/
#ifndef IOSDK_H
#define IOSDK_H

#include "interface/IOInterface.h"
#include "unitree_legged_sdk/unitree_legged_sdk.h"

#ifdef COMPILE_WITH_MOVE_BASE
#include <ros/ros.h>
#include <ros/time.h>
#include <sensor_msgs/JointState.h>
#endif // COMPILE_WITH_MOVE_BASE


class IOSDK : public IOInterface{
public:
IOSDK();
~IOSDK(){}
void sendRecv(const LowlevelCmd *cmd, LowlevelState *state);

private:
UNITREE_LEGGED_SDK::UDP _udp;
UNITREE_LEGGED_SDK::Safety _safe;
UNITREE_LEGGED_SDK::LowCmd _lowCmd;
UNITREE_LEGGED_SDK::LowState _lowState;

#ifdef COMPILE_WITH_MOVE_BASE
ros::NodeHandle _nh;
ros::Publisher _pub;
sensor_msgs::JointState _joint_state;
#endif // COMPILE_WITH_MOVE_BASE
};

#endif // IOSDK_H
/**********************************************************************
Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.
***********************************************************************/
#ifdef COMPILE_WITH_REAL_ROBOT

#ifndef IOSDK_H
#define IOSDK_H

#include "interface/IOInterface.h"
#include "unitree_legged_sdk/unitree_legged_sdk.h"

#ifdef COMPILE_WITH_MOVE_BASE
#include <ros/ros.h>
#include <ros/time.h>
#include <sensor_msgs/JointState.h>
#endif // COMPILE_WITH_MOVE_BASE


class IOSDK : public IOInterface{
public:
IOSDK();
~IOSDK(){}
void sendRecv(const LowlevelCmd *cmd, LowlevelState *state);

private:
UNITREE_LEGGED_SDK::UDP _udp;
UNITREE_LEGGED_SDK::Safety _safe;
UNITREE_LEGGED_SDK::LowCmd _lowCmd;
UNITREE_LEGGED_SDK::LowState _lowState;

#ifdef COMPILE_WITH_MOVE_BASE
ros::NodeHandle _nh;
ros::Publisher _pub;
sensor_msgs::JointState _joint_state;
#endif // COMPILE_WITH_MOVE_BASE
};

#endif // IOSDK_H

#endif // COMPILE_WITH_REAL_ROBOT