XGO-mini2S

# xgolib：自动发现串口与机器人型号
from xgolib import XGO
from time import sleep

dog = XGO()
print("firmware:", dog.read_firmware())
dog.pace("high")

dog.move("x", 18)
sleep(1.2)
dog.move("y", -8)
sleep(0.8)
dog.turn(60)
sleep(1.0)

dog.stop()
dog.reset()

LUWU-OS 真实 API · xgolib 自动扫描 ttyAMA5 / ttyAMA0

# 识别蓝色目标，并把水平偏差变成转向速度
from picamera2 import Picamera2
from xgolib import XGO
import cv2, numpy as np

cam, dog = Picamera2(), XGO()
config = cam.create_preview_configuration(
    main={"size": (640, 480), "format": "RGB888"}
)
cam.configure(config)
cam.start()

while True:
    frame = cam.capture_array()
    hsv = cv2.cvtColor(frame, cv2.COLOR_RGB2HSV)
    mask = cv2.inRange(hsv, np.array([95, 90, 60]),
                              np.array([130, 255, 255]))
    m = cv2.moments(mask)
    if m["m00"] > 3000:
        cx = int(m["m10"] / m["m00"])
        dog.turn(int(np.clip((320 - cx) * 0.25, -60, 60)))
    else:
        dog.stop()

真实视觉链路 · OV5647 → Picamera2 → OpenCV → xgolib

# 用同一个 ROS 2 节点切换“仿真验证 / 真机执行”
import rclpy
from rclpy.node import Node
from xgolib import XGO

class WalkNode(Node):
    def __init__(self):
        super().__init__("xgo_walk")
        self.declare_parameter("simulate", True)
        self.sim = self.get_parameter("simulate").value
        self.dog = None if self.sim else XGO()
        self.timer = self.create_timer(0.1, self.control)

    def control(self):
        speed = 18
        self.get_logger().info(f"cmd_x={speed} sim={self.sim}")
        if self.dog:
            self.dog.move("x", speed)

rclpy.init()
rclpy.spin(WalkNode())

# ros2 run xgo_demo walk --ros-args -p simulate:=true

Luwu ROS v0.1 · ROS 2 Lyrical 示例节点；仿真模式不写入硬件