Method send_cmd

scripts/unitree_deploy/deploy_real.py:115–118

Send a low-level command to the robot.

(self, cmd: LowCmdGo | LowCmdHG)

        self.remote_controller.set(self.low_state.wireless_remote)

    def send_cmd(self, cmd: LowCmdGo | LowCmdHG):
        """Send a low-level command to the robot."""
        cmd.crc = CRC().Crc(cmd)
        self.lowcmd_publisher_.Write(cmd)

    def wait_for_low_state(self):
        """Block until at least one low state message arrives."""