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<!DOCTYPE html>
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<title>LejuSDK 文档 — LejuSDK dbf55ca 文档</title>
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LejuSDK
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dbf55ca
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<p class="caption" role="heading"><span class="caption-text">目录</span></p>
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<li class="toctree-l1"><a class="reference internal" href="getting_started.html">快速入门</a><ul>
<li class="toctree-l2"><a class="reference internal" href="getting_started.html#id2">环境要求</a></li>
<li class="toctree-l2"><a class="reference internal" href="getting_started.html#id3">依赖安装</a></li>
<li class="toctree-l2"><a class="reference internal" href="getting_started.html#id4">编译</a></li>
<li class="toctree-l2"><a class="reference internal" href="getting_started.html#iceoryx">部署 iceoryx 共享内存（首次使用需执行）</a></li>
<li class="toctree-l2"><a class="reference internal" href="getting_started.html#id5">基本使用</a><ul>
<li class="toctree-l3"><a class="reference internal" href="getting_started.html#id6">1. 设置机器人版本（必选）</a></li>
<li class="toctree-l3"><a class="reference internal" href="getting_started.html#id7">2. 加载工作空间（必选）</a></li>
<li class="toctree-l3"><a class="reference internal" href="getting_started.html#id8">3. 启动实物</a></li>
<li class="toctree-l3"><a class="reference internal" href="getting_started.html#mujoco">4. 启动仿真（MuJoCo）</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="getting_started.html#id9">遥控器操作</a><ul>
<li class="toctree-l3"><a class="reference internal" href="getting_started.html#id10">键盘映射（无手柄时）</a></li>
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</ul>
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<li class="toctree-l1"><a class="reference internal" href="modules/index.html">模块列表</a><ul>
<li class="toctree-l2"><a class="reference internal" href="modules/lejusdk-utils/index.html">lejusdk-utils</a><ul>
<li class="toctree-l3"><a class="reference internal" href="modules/lejusdk-utils/api.html">lejusdk-utils API</a><ul>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-utils/api.html#robotversion">RobotVersion</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-utils/api.html#robotversions">RobotVersions</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-utils/api.html#kuavo">Kuavo 系列</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-utils/api.html#roban">Roban 系列</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-utils/api.html#id1">Kuavo 足式机器人检测宏</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-utils/api.html#id2">Roban 足式机器人检测宏</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-utils/api.html#id3">Kuavo 轮式机器人检测宏</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-utils/api.html#id4">产品系列检测宏</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-utils/api.html#id5">时间工具函数</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-utils/api.html#loop">Loop</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-utils/api.html#id6">日志宏</a></li>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="modules/lejusdk-lowlevel/index.html">lejusdk-lowlevel</a><ul>
<li class="toctree-l3"><a class="reference internal" href="modules/lejusdk-lowlevel/datatypes.html">lejusdk-lowlevel 数据类型</a><ul>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-lowlevel/datatypes.html#motorcontrolmode">MotorControlMode</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-lowlevel/datatypes.html#hardwarestate">HardwareState</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-lowlevel/datatypes.html#robotstate">RobotState</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-lowlevel/datatypes.html#robotcmd">RobotCmd</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-lowlevel/datatypes.html#imudata">ImuData</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-lowlevel/datatypes.html#joydata">JoyData</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-lowlevel/datatypes.html#stringdata">StringData</a></li>
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<li class="toctree-l3"><a class="reference internal" href="modules/lejusdk-lowlevel/control_modes.html">电机控制模式 (CSP/CST)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-lowlevel/control_modes.html#id1">概述</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-lowlevel/control_modes.html#csp">CSP 模式</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-lowlevel/control_modes.html#cst">CST 模式</a></li>
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<li class="toctree-l3"><a class="reference internal" href="modules/lejusdk-lowlevel/api.html">lejusdk-lowlevel API</a><ul>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-lowlevel/api.html#globalrobot">GlobalRobot</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-lowlevel/api.html#robotbaseapi">RobotBaseAPI</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-lowlevel/api.html#kuavohumanoid">KuavoHumanoid</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-lowlevel/api.html#robanhumanoid">RobanHumanoid</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-lowlevel/api.html#topiclogger">TopicLogger</a></li>
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<li class="toctree-l3"><a class="reference internal" href="modules/lejusdk-lowlevel/examples.html">lejusdk-lowlevel 示例</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-lowlevel/examples.html#id1">关节状态订阅</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-lowlevel/examples.html#id2">硬件状态订阅</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-lowlevel/examples.html#id3">控制指令发布</a></li>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-lowlevel/examples.html#id4">综合控制示例</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="modules/lejusdk-highlevel/index.html">lejusdk-highlevel</a><ul>
<li class="toctree-l3"><a class="reference internal" href="modules/lejusdk-highlevel/index.html#id1">示例</a><ul>
<li class="toctree-l4"><a class="reference internal" href="modules/lejusdk-highlevel/examples.html">lejusdk-highlevel 示例</a></li>
</ul>
</li>
</ul>
</li>
</ul>
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<li class="toctree-l1"><a class="reference internal" href="logging-and-debugging/index.html">日志与调试数据分析</a><ul>
<li class="toctree-l2"><a class="reference internal" href="logging-and-debugging/stdout_log.html">日志数据</a><ul>
<li class="toctree-l3"><a class="reference internal" href="logging-and-debugging/stdout_log.html#stdout">stdout 日志</a></li>
<li class="toctree-l3"><a class="reference internal" href="logging-and-debugging/stdout_log.html#mcap">MCAP 录制数据</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="logging-and-debugging/recorder.html">录制工具使用</a><ul>
<li class="toctree-l3"><a class="reference internal" href="logging-and-debugging/recorder.html#id2">命令行用法</a><ul>
<li class="toctree-l4"><a class="reference internal" href="logging-and-debugging/recorder.html#id3">基本录制（默认域 0）</a></li>
<li class="toctree-l4"><a class="reference internal" href="logging-and-debugging/recorder.html#id">指定域 ID 与录制时长（秒）</a></li>
<li class="toctree-l4"><a class="reference internal" href="logging-and-debugging/recorder.html#id4">使用配置文件（可配置话题白名单/黑名单等）</a></li>
<li class="toctree-l4"><a class="reference internal" href="logging-and-debugging/recorder.html#id5">详细日志输出</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="logging-and-debugging/recorder.html#id6">命令行参数</a></li>
<li class="toctree-l3"><a class="reference internal" href="logging-and-debugging/recorder.html#id7">配置文件</a><ul>
<li class="toctree-l4"><a class="reference internal" href="logging-and-debugging/recorder.html#id8">配置文件结构</a></li>
<li class="toctree-l4"><a class="reference internal" href="logging-and-debugging/recorder.html#id9">配置项说明</a></li>
<li class="toctree-l4"><a class="reference internal" href="logging-and-debugging/recorder.html#id10">使用示例</a></li>
<li class="toctree-l4"><a class="reference internal" href="logging-and-debugging/recorder.html#id11">配置文件路径</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="logging-and-debugging/foxglove_usage.html">Foxglove 分析数据</a><ul>
<li class="toctree-l3"><a class="reference internal" href="logging-and-debugging/foxglove_usage.html#id1">可视化数据</a></li>
<li class="toctree-l3"><a class="reference internal" href="logging-and-debugging/foxglove_usage.html#id2">使用预定义布局</a></li>
<li class="toctree-l3"><a class="reference internal" href="logging-and-debugging/foxglove_usage.html#id3">数据分析</a></li>
<li class="toctree-l3"><a class="reference internal" href="logging-and-debugging/foxglove_usage.html#id4">参考</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="logging-and-debugging/mcap_format.html">MCAP 数据格式</a><ul>
<li class="toctree-l3"><a class="reference internal" href="logging-and-debugging/mcap_format.html#id1">文件结构</a></li>
<li class="toctree-l3"><a class="reference internal" href="logging-and-debugging/mcap_format.html#id2">编码格式</a></li>
<li class="toctree-l3"><a class="reference internal" href="logging-and-debugging/mcap_format.html#id3">时间戳</a></li>
<li class="toctree-l3"><a class="reference internal" href="logging-and-debugging/mcap_format.html#id4">文件大小与压缩</a></li>
<li class="toctree-l3"><a class="reference internal" href="logging-and-debugging/mcap_format.html#id5">兼容性</a></li>
<li class="toctree-l3"><a class="reference internal" href="logging-and-debugging/mcap_format.html#id6">参考</a></li>
</ul>
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</ul>
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<li class="toctree-l1"><a class="reference internal" href="writing_controllers.html">控制器实践</a><ul>
<li class="toctree-l2"><a class="reference internal" href="writing_controllers.html#id2">概述</a></li>
<li class="toctree-l2"><a class="reference internal" href="writing_controllers.html#id3">快速开始</a></li>
<li class="toctree-l2"><a class="reference internal" href="writing_controllers.html#id4">控制器架构</a><ul>
<li class="toctree-l3"><a class="reference internal" href="writing_controllers.html#id5">关键设计要点</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="writing_controllers.html#id6">配置文件参数说明</a><ul>
<li class="toctree-l3"><a class="reference internal" href="writing_controllers.html#id7">基础配置</a></li>
<li class="toctree-l3"><a class="reference internal" href="writing_controllers.html#env-robot">机器人参数 (env.robot)</a></li>
<li class="toctree-l3"><a class="reference internal" href="writing_controllers.html#env-observations">观测配置 (env.observations)</a></li>
<li class="toctree-l3"><a class="reference internal" href="writing_controllers.html#command-range">命令范围 (command_range)</a></li>
<li class="toctree-l3"><a class="reference internal" href="writing_controllers.html#arm-controller">手臂控制器 (arm_controller)</a></li>
<li class="toctree-l3"><a class="reference internal" href="writing_controllers.html#cmd-stance">cmd_stance 配置</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="writing_controllers.html#id8">控制器实践</a><ul>
<li class="toctree-l3"><a class="reference internal" href="writing_controllers.html#id9">线程安全</a></li>
<li class="toctree-l3"><a class="reference internal" href="writing_controllers.html#id10">硬件状态检查</a></li>
<li class="toctree-l3"><a class="reference internal" href="writing_controllers.html#id11">控制频率管理</a></li>
<li class="toctree-l3"><a class="reference internal" href="writing_controllers.html#id12">配置加载示例</a></li>
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<h1>LejuSDK 文档<a class="headerlink" href="#lejusdk" title="此标题的永久链接"></a></h1>
<p>LejuSDK 是 Leju 机器人软件开发工具包，提供多层次的机器人控制接口。</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">目录</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="getting_started.html">快速入门</a><ul>
<li class="toctree-l2"><a class="reference internal" href="getting_started.html#id2">环境要求</a></li>
<li class="toctree-l2"><a class="reference internal" href="getting_started.html#id3">依赖安装</a></li>
<li class="toctree-l2"><a class="reference internal" href="getting_started.html#id4">编译</a></li>
<li class="toctree-l2"><a class="reference internal" href="getting_started.html#iceoryx">部署 iceoryx 共享内存（首次使用需执行）</a></li>
<li class="toctree-l2"><a class="reference internal" href="getting_started.html#id5">基本使用</a></li>
<li class="toctree-l2"><a class="reference internal" href="getting_started.html#id9">遥控器操作</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="modules/index.html">模块列表</a><ul>
<li class="toctree-l2"><a class="reference internal" href="modules/lejusdk-utils/index.html">lejusdk-utils</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/lejusdk-lowlevel/index.html">lejusdk-lowlevel</a></li>
<li class="toctree-l2"><a class="reference internal" href="modules/lejusdk-highlevel/index.html">lejusdk-highlevel</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="logging-and-debugging/index.html">日志与调试数据分析</a><ul>
<li class="toctree-l2"><a class="reference internal" href="logging-and-debugging/stdout_log.html">日志数据</a></li>
<li class="toctree-l2"><a class="reference internal" href="logging-and-debugging/recorder.html">录制工具使用</a></li>
<li class="toctree-l2"><a class="reference internal" href="logging-and-debugging/foxglove_usage.html">Foxglove 分析数据</a></li>
<li class="toctree-l2"><a class="reference internal" href="logging-and-debugging/mcap_format.html">MCAP 数据格式</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="writing_controllers.html">控制器实践</a><ul>
<li class="toctree-l2"><a class="reference internal" href="writing_controllers.html#id2">概述</a></li>
<li class="toctree-l2"><a class="reference internal" href="writing_controllers.html#id3">快速开始</a></li>
<li class="toctree-l2"><a class="reference internal" href="writing_controllers.html#id4">控制器架构</a></li>
<li class="toctree-l2"><a class="reference internal" href="writing_controllers.html#id6">配置文件参数说明</a></li>
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<tr class="row-even"><td><p><a class="reference internal" href="modules/lejusdk-utils/index.html"><span class="doc">lejusdk-utils</span></a></p></td>
<td><p>工具库：版本管理、时间工具、定时循环、日志等，SDK 基础依赖</p></td>
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<tr class="row-odd"><td><p><a class="reference internal" href="modules/lejusdk-lowlevel/index.html"><span class="doc">lejusdk-lowlevel</span></a></p></td>
<td><p>底层控制 SDK，提供电机控制、传感器数据读取等接口（含示例）</p></td>
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<td><p>高层控制 SDK，提供应用层控制接口（含示例） <strong>暂未上线，敬请期待</strong></p></td>
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