init

arm/src/arm_zero_control.cpp

@@ -0,0 +1,21 @@
+#include <unitree/robot/channel/channel_publisher.hpp>
+#include <unitree/common/time/time_tool.hpp>
+#include "msg/ArmString_.hpp"
+
+#define TOPIC "rt/arm_Command"
+
+using namespace unitree::robot;
+using namespace unitree::common;
+
+int main()
+{
+    ChannelFactory::Instance()->Init(0);
+    ChannelPublisher<unitree_arm::msg::dds_::ArmString_> publisher(TOPIC);
+    publisher.InitChannel();
+
+    unitree_arm::msg::dds_::ArmString_ msg{};
+    msg.data_() = "{\"seq\":4,\"address\":1,\"funcode\":7}";
+    publisher.Write(msg);
+ 
+    return 0;
+}

arm/src/get_arm_joint_angle.cpp

@@ -0,0 +1,41 @@
+#include <unitree/robot/channel/channel_subscriber.hpp>
+#include <unitree/common/time/time_tool.hpp>
+#include "msg/PubServoInfo_.hpp"
+#include "msg/ArmString_.hpp"
+
+#define TOPIC "current_servo_angle"
+#define TOPIC1 "rt/arm_Feedback"
+
+using namespace unitree::robot;
+using namespace unitree::common;
+
+void Handler(const void* msg)
+{
+    const unitree_arm::msg::dds_::PubServoInfo_* pm = (const unitree_arm::msg::dds_::PubServoInfo_*)msg;
+
+    std::cout << "servo0_data:" << pm->servo0_data_() << ", servo1_data:" << pm->servo1_data_() << ", servo2_data:" << pm->servo2_data_()<< ", servo3_data:" << pm->servo3_data_()<< ", servo4_data:" << pm->servo4_data_()<< ", servo5_data:" << pm->servo5_data_()<< ", servo6_data:" << pm->servo6_data_() << std::endl;
+}
+
+void Handler1(const void* msg)
+{
+    const unitree_arm::msg::dds_::ArmString_* pm = (const unitree_arm::msg::dds_::ArmString_*)msg;
+
+    std::cout << "armFeedback_data:" << pm->data_() << std::endl;
+}
+
+int main()
+{
+    ChannelFactory::Instance()->Init(0);
+    ChannelSubscriber<unitree_arm::msg::dds_::PubServoInfo_> subscriber(TOPIC);
+    subscriber.InitChannel(Handler);
+
+    ChannelSubscriber<unitree_arm::msg::dds_::ArmString_> subscriber1(TOPIC1);
+    subscriber1.InitChannel(Handler1);
+
+    while (true)
+    {
+        sleep(10);
+    }
+
+    return 0;
+}

arm/src/joint_angle_control.cpp

@@ -0,0 +1,21 @@
+#include <unitree/robot/channel/channel_publisher.hpp>
+#include <unitree/common/time/time_tool.hpp>
+#include "msg/ArmString_.hpp"
+
+#define TOPIC "rt/arm_Command"
+
+using namespace unitree::robot;
+using namespace unitree::common;
+
+int main()
+{
+    ChannelFactory::Instance()->Init(0);
+    ChannelPublisher<unitree_arm::msg::dds_::ArmString_> publisher(TOPIC);
+    publisher.InitChannel();
+
+    unitree_arm::msg::dds_::ArmString_ msg{};
+    msg.data_() = "{\"seq\":4,\"address\":1,\"funcode\":1,\"data\":{\"id\":5,\"angle\":60,\"delay_ms\":0}}";
+    publisher.Write(msg);
+ 
+    return 0;
+}

arm/src/joint_enable_control.cpp

@@ -0,0 +1,21 @@
+#include <unitree/robot/channel/channel_publisher.hpp>
+#include <unitree/common/time/time_tool.hpp>
+#include "msg/ArmString_.hpp"
+
+#define TOPIC "rt/arm_Command"
+
+using namespace unitree::robot;
+using namespace unitree::common;
+
+int main()
+{
+    ChannelFactory::Instance()->Init(0);
+    ChannelPublisher<unitree_arm::msg::dds_::ArmString_> publisher(TOPIC);
+    publisher.InitChannel();
+
+    unitree_arm::msg::dds_::ArmString_ msg{};
+    msg.data_() = "{\"seq\":4,\"address\":1,\"funcode\":5,\"data\":{\"mode\":0}}";
+    publisher.Write(msg);
+ 
+    return 0;
+}

arm/src/msg/ArmString_.cpp

@@ -0,0 +1,53 @@
+/****************************************************************
+
+  Generated by Eclipse Cyclone DDS IDL to CXX Translator
+  File name: ArmString_.idl
+  Source: ArmString_.cpp
+  Cyclone DDS: v0.10.2
+
+*****************************************************************/
+#include "ArmString_.hpp"
+
+namespace org{
+namespace eclipse{
+namespace cyclonedds{
+namespace core{
+namespace cdr{
+
+template<>
+propvec &get_type_props<::unitree_arm::msg::dds_::ArmString_>() {
+  static thread_local std::mutex mtx;
+  static thread_local propvec props;
+  static thread_local entity_properties_t *props_end = nullptr;
+  static thread_local std::atomic_bool initialized {false};
+  key_endpoint keylist;
+  if (initialized.load(std::memory_order_relaxed)) {
+    auto ptr = props.data();
+    while (ptr < props_end)
+      (ptr++)->is_present = false;
+    return props;
+  }
+  std::lock_guard<std::mutex> lock(mtx);
+  if (initialized.load(std::memory_order_relaxed)) {
+    auto ptr = props.data();
+    while (ptr < props_end)
+      (ptr++)->is_present = false;
+    return props;
+  }
+  props.clear();
+
+  props.push_back(entity_properties_t(0, 0, false, bb_unset, extensibility::ext_final));  //root
+  props.push_back(entity_properties_t(1, 0, false, bb_unset, extensibility::ext_final, false));  //::data_
+
+  entity_properties_t::finish(props, keylist);
+  props_end = props.data() + props.size();
+  initialized.store(true, std::memory_order_release);
+  return props;
+}
+
+} //namespace cdr
+} //namespace core
+} //namespace cyclonedds
+} //namespace eclipse
+} //namespace org
+

arm/src/msg/ArmString_.hpp

@@ -0,0 +1,232 @@
+/****************************************************************
+
+  Generated by Eclipse Cyclone DDS IDL to CXX Translator
+  File name: ArmString_.idl
+  Source: ArmString_.hpp
+  Cyclone DDS: v0.10.2
+
+*****************************************************************/
+#ifndef DDSCXX_ARMSTRING__HPP
+#define DDSCXX_ARMSTRING__HPP
+
+#include <string>
+
+namespace unitree_arm
+{
+namespace msg
+{
+namespace dds_
+{
+class ArmString_
+{
+private:
+ std::string data__;
+
+public:
+  ArmString_() = default;
+
+  explicit ArmString_(
+    const std::string& data_) :
+    data__(data_) { }
+
+  const std::string& data_() const { return this->data__; }
+  std::string& data_() { return this->data__; }
+  void data_(const std::string& _val_) { this->data__ = _val_; }
+  void data_(std::string&& _val_) { this->data__ = _val_; }
+
+  bool operator==(const ArmString_& _other) const
+  {
+    (void) _other;
+    return data__ == _other.data__;
+  }
+
+  bool operator!=(const ArmString_& _other) const
+  {
+    return !(*this == _other);
+  }
+
+};
+
+}
+
+}
+
+}
+
+#include "dds/topic/TopicTraits.hpp"
+#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
+
+namespace org {
+namespace eclipse {
+namespace cyclonedds {
+namespace topic {
+
+template <> constexpr const char* TopicTraits<::unitree_arm::msg::dds_::ArmString_>::getTypeName()
+{
+  return "unitree_arm::msg::dds_::ArmString_";
+}
+
+template <> constexpr bool TopicTraits<::unitree_arm::msg::dds_::ArmString_>::isSelfContained()
+{
+  return false;
+}
+
+template <> constexpr bool TopicTraits<::unitree_arm::msg::dds_::ArmString_>::isKeyless()
+{
+  return true;
+}
+
+} //namespace topic
+} //namespace cyclonedds
+} //namespace eclipse
+} //namespace org
+
+namespace dds {
+namespace topic {
+
+template <>
+struct topic_type_name<::unitree_arm::msg::dds_::ArmString_>
+{
+    static std::string value()
+    {
+      return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_arm::msg::dds_::ArmString_>::getTypeName();
+    }
+};
+
+}
+}
+
+REGISTER_TOPIC_TYPE(::unitree_arm::msg::dds_::ArmString_)
+
+namespace org{
+namespace eclipse{
+namespace cyclonedds{
+namespace core{
+namespace cdr{
+
+template<>
+propvec &get_type_props<::unitree_arm::msg::dds_::ArmString_>();
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool write(T& streamer, const ::unitree_arm::msg::dds_::ArmString_& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!write_string(streamer, instance.data_(), 0))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool write(S& str, const ::unitree_arm::msg::dds_::ArmString_& instance, bool as_key) {
+  auto &props = get_type_props<::unitree_arm::msg::dds_::ArmString_>();
+  str.set_mode(cdr_stream::stream_mode::write, as_key);
+  return write(str, instance, props.data()); 
+}
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool read(T& streamer, ::unitree_arm::msg::dds_::ArmString_& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!read_string(streamer, instance.data_(), 0))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool read(S& str, ::unitree_arm::msg::dds_::ArmString_& instance, bool as_key) {
+  auto &props = get_type_props<::unitree_arm::msg::dds_::ArmString_>();
+  str.set_mode(cdr_stream::stream_mode::read, as_key);
+  return read(str, instance, props.data()); 
+}
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool move(T& streamer, const ::unitree_arm::msg::dds_::ArmString_& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!move_string(streamer, instance.data_(), 0))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool move(S& str, const ::unitree_arm::msg::dds_::ArmString_& instance, bool as_key) {
+  auto &props = get_type_props<::unitree_arm::msg::dds_::ArmString_>();
+  str.set_mode(cdr_stream::stream_mode::move, as_key);
+  return move(str, instance, props.data()); 
+}
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool max(T& streamer, const ::unitree_arm::msg::dds_::ArmString_& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!max_string(streamer, instance.data_(), 0))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool max(S& str, const ::unitree_arm::msg::dds_::ArmString_& instance, bool as_key) {
+  auto &props = get_type_props<::unitree_arm::msg::dds_::ArmString_>();
+  str.set_mode(cdr_stream::stream_mode::max, as_key);
+  return max(str, instance, props.data()); 
+}
+
+} //namespace cdr
+} //namespace core
+} //namespace cyclonedds
+} //namespace eclipse
+} //namespace org
+
+#endif // DDSCXX_ARMSTRING__HPP

arm/src/msg/PubServoInfo_.cpp

@@ -0,0 +1,59 @@
+/****************************************************************
+
+  Generated by Eclipse Cyclone DDS IDL to CXX Translator
+  File name: PubServoInfo_.idl
+  Source: PubServoInfo_.cpp
+  Cyclone DDS: v0.10.2
+
+*****************************************************************/
+#include "PubServoInfo_.hpp"
+
+namespace org{
+namespace eclipse{
+namespace cyclonedds{
+namespace core{
+namespace cdr{
+
+template<>
+propvec &get_type_props<::unitree_arm::msg::dds_::PubServoInfo_>() {
+  static thread_local std::mutex mtx;
+  static thread_local propvec props;
+  static thread_local entity_properties_t *props_end = nullptr;
+  static thread_local std::atomic_bool initialized {false};
+  key_endpoint keylist;
+  if (initialized.load(std::memory_order_relaxed)) {
+    auto ptr = props.data();
+    while (ptr < props_end)
+      (ptr++)->is_present = false;
+    return props;
+  }
+  std::lock_guard<std::mutex> lock(mtx);
+  if (initialized.load(std::memory_order_relaxed)) {
+    auto ptr = props.data();
+    while (ptr < props_end)
+      (ptr++)->is_present = false;
+    return props;
+  }
+  props.clear();
+
+  props.push_back(entity_properties_t(0, 0, false, bb_unset, extensibility::ext_final));  //root
+  props.push_back(entity_properties_t(1, 0, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::servo0_data_
+  props.push_back(entity_properties_t(1, 1, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::servo1_data_
+  props.push_back(entity_properties_t(1, 2, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::servo2_data_
+  props.push_back(entity_properties_t(1, 3, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::servo3_data_
+  props.push_back(entity_properties_t(1, 4, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::servo4_data_
+  props.push_back(entity_properties_t(1, 5, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::servo5_data_
+  props.push_back(entity_properties_t(1, 6, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::servo6_data_
+
+  entity_properties_t::finish(props, keylist);
+  props_end = props.data() + props.size();
+  initialized.store(true, std::memory_order_release);
+  return props;
+}
+
+} //namespace cdr
+} //namespace core
+} //namespace cyclonedds
+} //namespace eclipse
+} //namespace org
+

arm/src/msg/PubServoInfo_.hpp

@@ -0,0 +1,459 @@
+/****************************************************************
+
+  Generated by Eclipse Cyclone DDS IDL to CXX Translator
+  File name: PubServoInfo_.idl
+  Source: PubServoInfo_.hpp
+  Cyclone DDS: v0.10.2
+
+*****************************************************************/
+#ifndef DDSCXX_PUBSERVOINFO__HPP
+#define DDSCXX_PUBSERVOINFO__HPP
+
+
+namespace unitree_arm
+{
+namespace msg
+{
+namespace dds_
+{
+class PubServoInfo_
+{
+private:
+ float servo0_data__ = 0.0f;
+ float servo1_data__ = 0.0f;
+ float servo2_data__ = 0.0f;
+ float servo3_data__ = 0.0f;
+ float servo4_data__ = 0.0f;
+ float servo5_data__ = 0.0f;
+ float servo6_data__ = 0.0f;
+
+public:
+  PubServoInfo_() = default;
+
+  explicit PubServoInfo_(
+    float servo0_data_,
+    float servo1_data_,
+    float servo2_data_,
+    float servo3_data_,
+    float servo4_data_,
+    float servo5_data_,
+    float servo6_data_) :
+    servo0_data__(servo0_data_),
+    servo1_data__(servo1_data_),
+    servo2_data__(servo2_data_),
+    servo3_data__(servo3_data_),
+    servo4_data__(servo4_data_),
+    servo5_data__(servo5_data_),
+    servo6_data__(servo6_data_) { }
+
+  float servo0_data_() const { return this->servo0_data__; }
+  float& servo0_data_() { return this->servo0_data__; }
+  void servo0_data_(float _val_) { this->servo0_data__ = _val_; }
+  float servo1_data_() const { return this->servo1_data__; }
+  float& servo1_data_() { return this->servo1_data__; }
+  void servo1_data_(float _val_) { this->servo1_data__ = _val_; }
+  float servo2_data_() const { return this->servo2_data__; }
+  float& servo2_data_() { return this->servo2_data__; }
+  void servo2_data_(float _val_) { this->servo2_data__ = _val_; }
+  float servo3_data_() const { return this->servo3_data__; }
+  float& servo3_data_() { return this->servo3_data__; }
+  void servo3_data_(float _val_) { this->servo3_data__ = _val_; }
+  float servo4_data_() const { return this->servo4_data__; }
+  float& servo4_data_() { return this->servo4_data__; }
+  void servo4_data_(float _val_) { this->servo4_data__ = _val_; }
+  float servo5_data_() const { return this->servo5_data__; }
+  float& servo5_data_() { return this->servo5_data__; }
+  void servo5_data_(float _val_) { this->servo5_data__ = _val_; }
+  float servo6_data_() const { return this->servo6_data__; }
+  float& servo6_data_() { return this->servo6_data__; }
+  void servo6_data_(float _val_) { this->servo6_data__ = _val_; }
+
+  bool operator==(const PubServoInfo_& _other) const
+  {
+    (void) _other;
+    return servo0_data__ == _other.servo0_data__ &&
+      servo1_data__ == _other.servo1_data__ &&
+      servo2_data__ == _other.servo2_data__ &&
+      servo3_data__ == _other.servo3_data__ &&
+      servo4_data__ == _other.servo4_data__ &&
+      servo5_data__ == _other.servo5_data__ &&
+      servo6_data__ == _other.servo6_data__;
+  }
+
+  bool operator!=(const PubServoInfo_& _other) const
+  {
+    return !(*this == _other);
+  }
+
+};
+
+}
+
+}
+
+}
+
+#include "dds/topic/TopicTraits.hpp"
+#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
+
+namespace org {
+namespace eclipse {
+namespace cyclonedds {
+namespace topic {
+
+template <> constexpr const char* TopicTraits<::unitree_arm::msg::dds_::PubServoInfo_>::getTypeName()
+{
+  return "unitree_arm::msg::dds_::PubServoInfo_";
+}
+
+template <> constexpr bool TopicTraits<::unitree_arm::msg::dds_::PubServoInfo_>::isKeyless()
+{
+  return true;
+}
+
+} //namespace topic
+} //namespace cyclonedds
+} //namespace eclipse
+} //namespace org
+
+namespace dds {
+namespace topic {
+
+template <>
+struct topic_type_name<::unitree_arm::msg::dds_::PubServoInfo_>
+{
+    static std::string value()
+    {
+      return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_arm::msg::dds_::PubServoInfo_>::getTypeName();
+    }
+};
+
+}
+}
+
+REGISTER_TOPIC_TYPE(::unitree_arm::msg::dds_::PubServoInfo_)
+
+namespace org{
+namespace eclipse{
+namespace cyclonedds{
+namespace core{
+namespace cdr{
+
+template<>
+propvec &get_type_props<::unitree_arm::msg::dds_::PubServoInfo_>();
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool write(T& streamer, const ::unitree_arm::msg::dds_::PubServoInfo_& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!write(streamer, instance.servo0_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 1:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!write(streamer, instance.servo1_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 2:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!write(streamer, instance.servo2_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 3:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!write(streamer, instance.servo3_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 4:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!write(streamer, instance.servo4_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 5:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!write(streamer, instance.servo5_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 6:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!write(streamer, instance.servo6_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool write(S& str, const ::unitree_arm::msg::dds_::PubServoInfo_& instance, bool as_key) {
+  auto &props = get_type_props<::unitree_arm::msg::dds_::PubServoInfo_>();
+  str.set_mode(cdr_stream::stream_mode::write, as_key);
+  return write(str, instance, props.data()); 
+}
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool read(T& streamer, ::unitree_arm::msg::dds_::PubServoInfo_& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!read(streamer, instance.servo0_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 1:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!read(streamer, instance.servo1_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 2:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!read(streamer, instance.servo2_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 3:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!read(streamer, instance.servo3_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 4:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!read(streamer, instance.servo4_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 5:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!read(streamer, instance.servo5_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 6:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!read(streamer, instance.servo6_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool read(S& str, ::unitree_arm::msg::dds_::PubServoInfo_& instance, bool as_key) {
+  auto &props = get_type_props<::unitree_arm::msg::dds_::PubServoInfo_>();
+  str.set_mode(cdr_stream::stream_mode::read, as_key);
+  return read(str, instance, props.data()); 
+}
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool move(T& streamer, const ::unitree_arm::msg::dds_::PubServoInfo_& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!move(streamer, instance.servo0_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 1:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!move(streamer, instance.servo1_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 2:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!move(streamer, instance.servo2_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 3:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!move(streamer, instance.servo3_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 4:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!move(streamer, instance.servo4_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 5:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!move(streamer, instance.servo5_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 6:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!move(streamer, instance.servo6_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool move(S& str, const ::unitree_arm::msg::dds_::PubServoInfo_& instance, bool as_key) {
+  auto &props = get_type_props<::unitree_arm::msg::dds_::PubServoInfo_>();
+  str.set_mode(cdr_stream::stream_mode::move, as_key);
+  return move(str, instance, props.data()); 
+}
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool max(T& streamer, const ::unitree_arm::msg::dds_::PubServoInfo_& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!max(streamer, instance.servo0_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 1:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!max(streamer, instance.servo1_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 2:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!max(streamer, instance.servo2_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 3:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!max(streamer, instance.servo3_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 4:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!max(streamer, instance.servo4_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 5:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!max(streamer, instance.servo5_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 6:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!max(streamer, instance.servo6_data_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool max(S& str, const ::unitree_arm::msg::dds_::PubServoInfo_& instance, bool as_key) {
+  auto &props = get_type_props<::unitree_arm::msg::dds_::PubServoInfo_>();
+  str.set_mode(cdr_stream::stream_mode::max, as_key);
+  return max(str, instance, props.data()); 
+}
+
+} //namespace cdr
+} //namespace core
+} //namespace cyclonedds
+} //namespace eclipse
+} //namespace org
+
+#endif // DDSCXX_PUBSERVOINFO__HPP

arm/src/msg/SetServoAngle_.cpp

@@ -0,0 +1,56 @@
+/****************************************************************
+
+  Generated by Eclipse Cyclone DDS IDL to CXX Translator
+  File name: SetServoAngle_.idl
+  Source: SetServoAngle_.cpp
+  Cyclone DDS: v0.10.2
+
+*****************************************************************/
+#include "SetServoAngle_.hpp"
+
+namespace org{
+namespace eclipse{
+namespace cyclonedds{
+namespace core{
+namespace cdr{
+
+template<>
+propvec &get_type_props<::unitree_arm::msg::dds_::SetServoAngle_>() {
+  static thread_local std::mutex mtx;
+  static thread_local propvec props;
+  static thread_local entity_properties_t *props_end = nullptr;
+  static thread_local std::atomic_bool initialized {false};
+  key_endpoint keylist;
+  if (initialized.load(std::memory_order_relaxed)) {
+    auto ptr = props.data();
+    while (ptr < props_end)
+      (ptr++)->is_present = false;
+    return props;
+  }
+  std::lock_guard<std::mutex> lock(mtx);
+  if (initialized.load(std::memory_order_relaxed)) {
+    auto ptr = props.data();
+    while (ptr < props_end)
+      (ptr++)->is_present = false;
+    return props;
+  }
+  props.clear();
+
+  props.push_back(entity_properties_t(0, 0, false, bb_unset, extensibility::ext_final));  //root
+  props.push_back(entity_properties_t(1, 0, false, get_bit_bound<int32_t>(), extensibility::ext_final, false));  //::seq_
+  props.push_back(entity_properties_t(1, 1, false, get_bit_bound<uint8_t>(), extensibility::ext_final, false));  //::id_
+  props.push_back(entity_properties_t(1, 2, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::angle_
+  props.push_back(entity_properties_t(1, 3, false, get_bit_bound<int16_t>(), extensibility::ext_final, false));  //::delay_ms_
+
+  entity_properties_t::finish(props, keylist);
+  props_end = props.data() + props.size();
+  initialized.store(true, std::memory_order_release);
+  return props;
+}
+
+} //namespace cdr
+} //namespace core
+} //namespace cyclonedds
+} //namespace eclipse
+} //namespace org
+

arm/src/msg/SetServoAngle_.hpp

@@ -0,0 +1,343 @@
+/****************************************************************
+
+  Generated by Eclipse Cyclone DDS IDL to CXX Translator
+  File name: SetServoAngle_.idl
+  Source: SetServoAngle_.hpp
+  Cyclone DDS: v0.10.2
+
+*****************************************************************/
+#ifndef DDSCXX_SETSERVOANGLE__HPP
+#define DDSCXX_SETSERVOANGLE__HPP
+
+#include <cstdint>
+
+namespace unitree_arm
+{
+namespace msg
+{
+namespace dds_
+{
+class SetServoAngle_
+{
+private:
+ int32_t seq__ = 0;
+ uint8_t id__ = 0;
+ float angle__ = 0.0f;
+ int16_t delay_ms__ = 0;
+
+public:
+  SetServoAngle_() = default;
+
+  explicit SetServoAngle_(
+    int32_t seq_,
+    uint8_t id_,
+    float angle_,
+    int16_t delay_ms_) :
+    seq__(seq_),
+    id__(id_),
+    angle__(angle_),
+    delay_ms__(delay_ms_) { }
+
+  int32_t seq_() const { return this->seq__; }
+  int32_t& seq_() { return this->seq__; }
+  void seq_(int32_t _val_) { this->seq__ = _val_; }
+  uint8_t id_() const { return this->id__; }
+  uint8_t& id_() { return this->id__; }
+  void id_(uint8_t _val_) { this->id__ = _val_; }
+  float angle_() const { return this->angle__; }
+  float& angle_() { return this->angle__; }
+  void angle_(float _val_) { this->angle__ = _val_; }
+  int16_t delay_ms_() const { return this->delay_ms__; }
+  int16_t& delay_ms_() { return this->delay_ms__; }
+  void delay_ms_(int16_t _val_) { this->delay_ms__ = _val_; }
+
+  bool operator==(const SetServoAngle_& _other) const
+  {
+    (void) _other;
+    return seq__ == _other.seq__ &&
+      id__ == _other.id__ &&
+      angle__ == _other.angle__ &&
+      delay_ms__ == _other.delay_ms__;
+  }
+
+  bool operator!=(const SetServoAngle_& _other) const
+  {
+    return !(*this == _other);
+  }
+
+};
+
+}
+
+}
+
+}
+
+#include "dds/topic/TopicTraits.hpp"
+#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
+
+namespace org {
+namespace eclipse {
+namespace cyclonedds {
+namespace topic {
+
+template <> constexpr const char* TopicTraits<::unitree_arm::msg::dds_::SetServoAngle_>::getTypeName()
+{
+  return "unitree_arm::msg::dds_::SetServoAngle_";
+}
+
+template <> constexpr bool TopicTraits<::unitree_arm::msg::dds_::SetServoAngle_>::isKeyless()
+{
+  return true;
+}
+
+} //namespace topic
+} //namespace cyclonedds
+} //namespace eclipse
+} //namespace org
+
+namespace dds {
+namespace topic {
+
+template <>
+struct topic_type_name<::unitree_arm::msg::dds_::SetServoAngle_>
+{
+    static std::string value()
+    {
+      return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_arm::msg::dds_::SetServoAngle_>::getTypeName();
+    }
+};
+
+}
+}
+
+REGISTER_TOPIC_TYPE(::unitree_arm::msg::dds_::SetServoAngle_)
+
+namespace org{
+namespace eclipse{
+namespace cyclonedds{
+namespace core{
+namespace cdr{
+
+template<>
+propvec &get_type_props<::unitree_arm::msg::dds_::SetServoAngle_>();
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool write(T& streamer, const ::unitree_arm::msg::dds_::SetServoAngle_& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!write(streamer, instance.seq_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 1:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!write(streamer, instance.id_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 2:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!write(streamer, instance.angle_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 3:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!write(streamer, instance.delay_ms_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool write(S& str, const ::unitree_arm::msg::dds_::SetServoAngle_& instance, bool as_key) {
+  auto &props = get_type_props<::unitree_arm::msg::dds_::SetServoAngle_>();
+  str.set_mode(cdr_stream::stream_mode::write, as_key);
+  return write(str, instance, props.data()); 
+}
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool read(T& streamer, ::unitree_arm::msg::dds_::SetServoAngle_& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!read(streamer, instance.seq_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 1:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!read(streamer, instance.id_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 2:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!read(streamer, instance.angle_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 3:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!read(streamer, instance.delay_ms_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool read(S& str, ::unitree_arm::msg::dds_::SetServoAngle_& instance, bool as_key) {
+  auto &props = get_type_props<::unitree_arm::msg::dds_::SetServoAngle_>();
+  str.set_mode(cdr_stream::stream_mode::read, as_key);
+  return read(str, instance, props.data()); 
+}
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool move(T& streamer, const ::unitree_arm::msg::dds_::SetServoAngle_& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!move(streamer, instance.seq_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 1:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!move(streamer, instance.id_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 2:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!move(streamer, instance.angle_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 3:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!move(streamer, instance.delay_ms_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool move(S& str, const ::unitree_arm::msg::dds_::SetServoAngle_& instance, bool as_key) {
+  auto &props = get_type_props<::unitree_arm::msg::dds_::SetServoAngle_>();
+  str.set_mode(cdr_stream::stream_mode::move, as_key);
+  return move(str, instance, props.data()); 
+}
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool max(T& streamer, const ::unitree_arm::msg::dds_::SetServoAngle_& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!max(streamer, instance.seq_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 1:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!max(streamer, instance.id_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 2:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!max(streamer, instance.angle_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 3:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!max(streamer, instance.delay_ms_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool max(S& str, const ::unitree_arm::msg::dds_::SetServoAngle_& instance, bool as_key) {
+  auto &props = get_type_props<::unitree_arm::msg::dds_::SetServoAngle_>();
+  str.set_mode(cdr_stream::stream_mode::max, as_key);
+  return max(str, instance, props.data()); 
+}
+
+} //namespace cdr
+} //namespace core
+} //namespace cyclonedds
+} //namespace eclipse
+} //namespace org
+
+#endif // DDSCXX_SETSERVOANGLE__HPP

arm/src/msg/SetServoDumping_.cpp

@@ -0,0 +1,55 @@
+/****************************************************************
+
+  Generated by Eclipse Cyclone DDS IDL to CXX Translator
+  File name: SetServoDumping_.idl
+  Source: SetServoDumping_.cpp
+  Cyclone DDS: v0.10.2
+
+*****************************************************************/
+#include "SetServoDumping_.hpp"
+
+namespace org{
+namespace eclipse{
+namespace cyclonedds{
+namespace core{
+namespace cdr{
+
+template<>
+propvec &get_type_props<::unitree_arm::msg::dds_::SetServoDumping_>() {
+  static thread_local std::mutex mtx;
+  static thread_local propvec props;
+  static thread_local entity_properties_t *props_end = nullptr;
+  static thread_local std::atomic_bool initialized {false};
+  key_endpoint keylist;
+  if (initialized.load(std::memory_order_relaxed)) {
+    auto ptr = props.data();
+    while (ptr < props_end)
+      (ptr++)->is_present = false;
+    return props;
+  }
+  std::lock_guard<std::mutex> lock(mtx);
+  if (initialized.load(std::memory_order_relaxed)) {
+    auto ptr = props.data();
+    while (ptr < props_end)
+      (ptr++)->is_present = false;
+    return props;
+  }
+  props.clear();
+
+  props.push_back(entity_properties_t(0, 0, false, bb_unset, extensibility::ext_final));  //root
+  props.push_back(entity_properties_t(1, 0, false, get_bit_bound<int32_t>(), extensibility::ext_final, false));  //::seq_
+  props.push_back(entity_properties_t(1, 1, false, get_bit_bound<uint8_t>(), extensibility::ext_final, false));  //::id_
+  props.push_back(entity_properties_t(1, 2, false, get_bit_bound<uint16_t>(), extensibility::ext_final, false));  //::power_
+
+  entity_properties_t::finish(props, keylist);
+  props_end = props.data() + props.size();
+  initialized.store(true, std::memory_order_release);
+  return props;
+}
+
+} //namespace cdr
+} //namespace core
+} //namespace cyclonedds
+} //namespace eclipse
+} //namespace org
+

arm/src/msg/SetServoDumping_.hpp

@@ -0,0 +1,304 @@
+/****************************************************************
+
+  Generated by Eclipse Cyclone DDS IDL to CXX Translator
+  File name: SetServoDumping_.idl
+  Source: SetServoDumping_.hpp
+  Cyclone DDS: v0.10.2
+
+*****************************************************************/
+#ifndef DDSCXX_SETSERVODUMPING__HPP
+#define DDSCXX_SETSERVODUMPING__HPP
+
+#include <cstdint>
+
+namespace unitree_arm
+{
+namespace msg
+{
+namespace dds_
+{
+class SetServoDumping_
+{
+private:
+ int32_t seq__ = 0;
+ uint8_t id__ = 0;
+ uint16_t power__ = 0;
+
+public:
+  SetServoDumping_() = default;
+
+  explicit SetServoDumping_(
+    int32_t seq_,
+    uint8_t id_,
+    uint16_t power_) :
+    seq__(seq_),
+    id__(id_),
+    power__(power_) { }
+
+  int32_t seq_() const { return this->seq__; }
+  int32_t& seq_() { return this->seq__; }
+  void seq_(int32_t _val_) { this->seq__ = _val_; }
+  uint8_t id_() const { return this->id__; }
+  uint8_t& id_() { return this->id__; }
+  void id_(uint8_t _val_) { this->id__ = _val_; }
+  uint16_t power_() const { return this->power__; }
+  uint16_t& power_() { return this->power__; }
+  void power_(uint16_t _val_) { this->power__ = _val_; }
+
+  bool operator==(const SetServoDumping_& _other) const
+  {
+    (void) _other;
+    return seq__ == _other.seq__ &&
+      id__ == _other.id__ &&
+      power__ == _other.power__;
+  }
+
+  bool operator!=(const SetServoDumping_& _other) const
+  {
+    return !(*this == _other);
+  }
+
+};
+
+}
+
+}
+
+}
+
+#include "dds/topic/TopicTraits.hpp"
+#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
+
+namespace org {
+namespace eclipse {
+namespace cyclonedds {
+namespace topic {
+
+template <> constexpr const char* TopicTraits<::unitree_arm::msg::dds_::SetServoDumping_>::getTypeName()
+{
+  return "unitree_arm::msg::dds_::SetServoDumping_";
+}
+
+template <> constexpr bool TopicTraits<::unitree_arm::msg::dds_::SetServoDumping_>::isKeyless()
+{
+  return true;
+}
+
+} //namespace topic
+} //namespace cyclonedds
+} //namespace eclipse
+} //namespace org
+
+namespace dds {
+namespace topic {
+
+template <>
+struct topic_type_name<::unitree_arm::msg::dds_::SetServoDumping_>
+{
+    static std::string value()
+    {
+      return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_arm::msg::dds_::SetServoDumping_>::getTypeName();
+    }
+};
+
+}
+}
+
+REGISTER_TOPIC_TYPE(::unitree_arm::msg::dds_::SetServoDumping_)
+
+namespace org{
+namespace eclipse{
+namespace cyclonedds{
+namespace core{
+namespace cdr{
+
+template<>
+propvec &get_type_props<::unitree_arm::msg::dds_::SetServoDumping_>();
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool write(T& streamer, const ::unitree_arm::msg::dds_::SetServoDumping_& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!write(streamer, instance.seq_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 1:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!write(streamer, instance.id_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 2:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!write(streamer, instance.power_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool write(S& str, const ::unitree_arm::msg::dds_::SetServoDumping_& instance, bool as_key) {
+  auto &props = get_type_props<::unitree_arm::msg::dds_::SetServoDumping_>();
+  str.set_mode(cdr_stream::stream_mode::write, as_key);
+  return write(str, instance, props.data()); 
+}
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool read(T& streamer, ::unitree_arm::msg::dds_::SetServoDumping_& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!read(streamer, instance.seq_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 1:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!read(streamer, instance.id_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 2:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!read(streamer, instance.power_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool read(S& str, ::unitree_arm::msg::dds_::SetServoDumping_& instance, bool as_key) {
+  auto &props = get_type_props<::unitree_arm::msg::dds_::SetServoDumping_>();
+  str.set_mode(cdr_stream::stream_mode::read, as_key);
+  return read(str, instance, props.data()); 
+}
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool move(T& streamer, const ::unitree_arm::msg::dds_::SetServoDumping_& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!move(streamer, instance.seq_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 1:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!move(streamer, instance.id_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 2:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!move(streamer, instance.power_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool move(S& str, const ::unitree_arm::msg::dds_::SetServoDumping_& instance, bool as_key) {
+  auto &props = get_type_props<::unitree_arm::msg::dds_::SetServoDumping_>();
+  str.set_mode(cdr_stream::stream_mode::move, as_key);
+  return move(str, instance, props.data()); 
+}
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool max(T& streamer, const ::unitree_arm::msg::dds_::SetServoDumping_& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!max(streamer, instance.seq_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 1:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!max(streamer, instance.id_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 2:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!max(streamer, instance.power_()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool max(S& str, const ::unitree_arm::msg::dds_::SetServoDumping_& instance, bool as_key) {
+  auto &props = get_type_props<::unitree_arm::msg::dds_::SetServoDumping_>();
+  str.set_mode(cdr_stream::stream_mode::max, as_key);
+  return max(str, instance, props.data()); 
+}
+
+} //namespace cdr
+} //namespace core
+} //namespace cyclonedds
+} //namespace eclipse
+} //namespace org
+
+#endif // DDSCXX_SETSERVODUMPING__HPP

arm/src/multiple_joint_angle_control.cpp

@@ -0,0 +1,21 @@
+#include <unitree/robot/channel/channel_publisher.hpp>
+#include <unitree/common/time/time_tool.hpp>
+#include "msg/ArmString_.hpp"
+
+#define TOPIC "rt/arm_Command"
+
+using namespace unitree::robot;
+using namespace unitree::common;
+
+int main()
+{
+    ChannelFactory::Instance()->Init(0);
+    ChannelPublisher<unitree_arm::msg::dds_::ArmString_> publisher(TOPIC);
+    publisher.InitChannel();
+
+    unitree_arm::msg::dds_::ArmString_ msg{};
+    msg.data_() = "{\"seq\":4,\"address\":1,\"funcode\":2,\"data\":{\"mode\":1,\"angle0\":0,\"angle1\":-60,\"angle2\":60,\"angle3\":0,\"angle4\":30,\"angle5\":0,\"angle6\":0}}";
+    publisher.Write(msg);
+ 
+    return 0;
+}