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软件开发指南

1 使用环境

水星Mercury B1 人形机器人 是基于内置ubuntu系统开发和使用的。

2 开发环境

为了满足机器人在不同场景下的多样化应用需求，我们对机器人进行了多种编程语言的适配。到目前为止，我们已经适配了以下主流编程语言，我们认为您可以使用以下任何一种语言进行开发。请务必严格按照说明进行操作。任何遗漏的步骤都可能导致相应语言无法成功运行。祝您顺利使用机器人。

• Python
  我们的机器人支持 Python，Python API 库的开发也日趋完善。机器人的关节角度、坐标、抓手和其他方面都可以通过 Python 进行控制。
  

• ROS1
  ROS（Robot Operating System）作为一个开源的机器人操作系统，为机器人的开发和控制提供了无限的可能性。我们的机器人可以通过ROS丰富的控制功能，通过模块化的方式对机器人进行控制。无论是关节控制、路径规划还是感知反馈，ROS都提供了相应的工具和库，使得控制过程更加灵活和高效。
  

• ROS2
  ROS 2（Robot Operating System 2）是一个灵活的软件框架，专为机器人软件开发而设计。我们的机器人可以通过它提供的硬件抽象、设备驱动、库函数、可视化工具、消息传递以及包管理等一系列服务和功能，使得应用程序的开发变得更为高效和模块化。
  

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Software Development Guide

1 Operating Environment

The Mercury B1 humanoid robot is developed and used based on the built-in Ubuntu system.

2 Development Environment

To meet the diverse application needs of the robot in different scenarios, we have adapted the robot to various programming languages. So far, we have adapted the following mainstream programming languages, and we believe you can use any of these languages for development. Please be sure to follow the instructions carefully. Any missed steps may result in the corresponding language not running successfully. We wish you a smooth experience with the robot.

• Python
  Our robot supports Python, and the development of the Python API library is becoming more and more complete. The robot's joint angles, coordinates, gripper, and other aspects can be controlled through Python.
  

• ROS1
  ROS (Robot Operating System) is an open-source robot operating system that provides infinite possibilities for robot development and control. Our robot can be controlled through ROS's rich control functions in a modular way. Whether it is joint control, path planning, or perception feedback, ROS provides corresponding tools and libraries, making the control process more flexible and efficient.
  

• ROS2
  ROS 2 (Robot Operating System 2) is a flexible software framework designed for robot software development. Our robot can use the hardware abstraction, device drivers, library functions, visualization tools, message passing, and package management services and functions provided by ROS 2, making application development more efficient and modular.
  

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