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    小米杯 Motion 测试流程 ​

    1. 启动 Gazebo 和 RViz ​

    Bash
    xhost +
sudo docker run -it --shm-size="1g" --privileged=true -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix cyberdog_sim:v2
cd /home/cyberdog_sim
python3 src/cyberdog_simulator/cyberdog_gazebo/script/launchsim.py

    2. 进入 cyberdog_ws 并启动 motion_manager ​

    Bash
    cd /home/cyberdog_ws
source /opt/ros/galactic/setup.bash
source install/setup.bash
ros2 run motion_manager motion_manager

    3. 新开终端进入最近的 Docker 容器 ​

    Bash
    sudo docker ps -a
sudo docker exec -it 容器ID前3位 /bin/bash
cd /home/cyberdog_ws

    4. 执行 source 并激活状态机 ​

    Bash
    source /opt/ros/galactic/setup.bash
source install/setup.bash
ros2 service call /motion_managermachine_service protocol/srv/FsMachine "target_state: 'Active'"

    5. 执行 Motion 指令（按需修改 motion_id） ​

    站起 ​

    Bash
    ros2 service call /motion_result_cmd protocol/srv/MotionResultCmd "motion_id: 111"

    慢走 ​

    Bash
    ros2 topic pub /motion_servo_cmd protocol/msg/MotionServoCmd "motion_id: 303"

    快走 ​

    Bash
    ros2 topic pub -r 10 /motion_servo_cmd protocol/msg/MotionServoCmd "{motion_id: 305,vel_des:[0.6,0,0]}"

    更多指令参考：小米机器人实验室开发者指南。