can change lcm block period

unitreerobotics · Dec 7, 2021 · 597a66a · 597a66a
1 parent 617ce8f
commit 597a66a
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Showing 5 changed files with 3 additions and 2 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -7,7 +7,7 @@ link_directories(lib)
 
 add_compile_options(-std=c++11)
 
-set(EXTRA_LIBS -pthread libunitree_legged_sdk.so lcm)
+set(EXTRA_LIBS -pthread libunitree_legged_sdk_amd64.so lcm)
 
 set(CMAKE_CXX_FLAGS "-O3 -fPIC")
 
@@ -42,4 +42,4 @@ target_link_libraries(udp_recv_test ${EXTRA_LIBS})
 
 
 add_executable(lcm_receiver_low examples/lcm_receiver_low.cpp)
-target_link_libraries(lcm_receiver_low ${EXTRA_LIBS})
+target_link_libraries(lcm_receiver_low ${EXTRA_LIBS})
diff --git a/include/unitree_legged_sdk/lcm.h b/include/unitree_legged_sdk/lcm.h
@@ -63,6 +63,7 @@ namespace UNITREE_LEGGED_SDK
         void Get(LowCmd&);
         void Get(HighState&);
         void Get(LowState&);
+        void SetOverTime(float);        // unit:second, will block this long, default 2ms
 
         LCMHandler<HighState>   highStateLCMHandler;
         LCMHandler<LowState>    lowStateLCMHandler;

diff --git a/lib/libunitree_legged_sdk_amd64.so b/lib/libunitree_legged_sdk_amd64.so
diff --git a/lib/libunitree_legged_sdk_arm32.so b/lib/libunitree_legged_sdk_arm32.so
diff --git a/lib/libunitree_legged_sdk_arm64.so b/lib/libunitree_legged_sdk_arm64.so