Method Init

TextOpDeploy/src/unitree_mujoco/example/cpp/stand_go2.cpp:86–99

}

void Custom::Init()
{
    InitLowCmd();
    /*create publisher*/
    lowcmd_publisher.reset(new ChannelPublisher<unitree_go::msg::dds_::LowCmd_>(TOPIC_LOWCMD));
    lowcmd_publisher->InitChannel();

    /*create subscriber*/
    lowstate_subscriber.reset(new ChannelSubscriber<unitree_go::msg::dds_::LowState_>(TOPIC_LOWSTATE));
    lowstate_subscriber->InitChannel(std::bind(&Custom::LowStateMessageHandler, this, std::placeholders::_1), 1);

    /*loop publishing thread*/
    lowCmdWriteThreadPtr = CreateRecurrentThreadEx("writebasiccmd", UT_CPU_ID_NONE, int(dt * 1000000), &Custom::LowCmdWrite, this);
}

void Custom::InitLowCmd()
{