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Go2Py_SIM
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Added /go2/joint_cmd topic to listen to joint commands from the executor

This commit is contained in:
Nimesh Khandelwal 2024-02-15 18:41:18 -05:00
parent 1d415b5a48
commit 406f72dd21
1 changed files with 54 additions and 1 deletions
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55
deploy/robot_ws/src/go2py_node/src/bridge.cpp
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@ -52,6 +52,12 @@ class Custom: public rclcpp::Node
lowcmd_suber = this->create_subscription<unitree_go::msg::Go2pyLowCmd>( lowcmd_suber = this->create_subscription<unitree_go::msg::Go2pyLowCmd>(
"/go2/lowcmd", 1, std::bind(&Custom::lowcmd_callback, this, std::placeholders::_1)); "/go2/lowcmd", 1, std::bind(&Custom::lowcmd_callback, this, std::placeholders::_1));
joint_cmd_suber = this->create_subscription<sensor_msgs::msg::JointState>(
"/go2/joint_cmd",
1,
std::bind(&Custom::joint_cmd_callback, this, std::placeholders::_1)
);
lowcmd_puber = this->create_publisher<unitree_go::msg::LowCmd>("/lowcmd", 10); lowcmd_puber = this->create_publisher<unitree_go::msg::LowCmd>("/lowcmd", 10);
} }
@ -82,8 +88,10 @@ class Custom: public rclcpp::Node
// Lowlevel interface // Lowlevel interface
void lowstate_callback(unitree_go::msg::LowState::SharedPtr data); void lowstate_callback(unitree_go::msg::LowState::SharedPtr data);
void lowcmd_callback(unitree_go::msg::Go2pyLowCmd::SharedPtr data); void lowcmd_callback(unitree_go::msg::Go2pyLowCmd::SharedPtr data);
void joint_cmd_callback(sensor_msgs::msg::JointState::SharedPtr data);
rclcpp::Subscription<unitree_go::msg::LowState>::SharedPtr lowstate_suber; rclcpp::Subscription<unitree_go::msg::LowState>::SharedPtr lowstate_suber;
rclcpp::Subscription<unitree_go::msg::Go2pyLowCmd>::SharedPtr lowcmd_suber; rclcpp::Subscription<unitree_go::msg::Go2pyLowCmd>::SharedPtr lowcmd_suber;
rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr joint_cmd_suber;
// A struct to store the highlevel states for later use // A struct to store the highlevel states for later use
rclcpp::Publisher<unitree_go::msg::LowCmd>::SharedPtr lowcmd_puber; rclcpp::Publisher<unitree_go::msg::LowCmd>::SharedPtr lowcmd_puber;
unitree_go::msg::LowCmd lowcmd_msg; unitree_go::msg::LowCmd lowcmd_msg;
@ -92,7 +100,6 @@ class Custom: public rclcpp::Node
void init_lowcmd() void init_lowcmd()
{ {
for (int i = 0; i < 20; i++) for (int i = 0; i < 20; i++)
{ {
lowcmd_msg.motor_cmd[i].mode = 0x01; //Set toque mode, 0x00 is passive mode lowcmd_msg.motor_cmd[i].mode = 0x01; //Set toque mode, 0x00 is passive mode
@ -102,6 +109,25 @@ class Custom: public rclcpp::Node
lowcmd_msg.motor_cmd[i].kd = 0; lowcmd_msg.motor_cmd[i].kd = 0;
lowcmd_msg.motor_cmd[i].tau = 0; lowcmd_msg.motor_cmd[i].tau = 0;
} }
// taken from unitree_ros servo.cpp example
for (int i = 0; i < 4; ++i) {
// lowcmd_msg.motor_cmd[i*3+0].mode = 0x0A;
lowcmd_msg.motor_cmd[i*3+0].kp = 70;
// lowcmd_msg.motor_cmd[i*3+0].dq = 0;
lowcmd_msg.motor_cmd[i*3+0].kd = 3;
lowcmd_msg.motor_cmd[i*3+0].tau = 0;
// lowcmd_msg.motor_cmd[i*3+1].mode = 0x0A;
lowcmd_msg.motor_cmd[i*3+1].kp = 180;
// lowcmd_msg.motor_cmd[i*3+1].dq = 0;
lowcmd_msg.motor_cmd[i*3+1].kd = 8;
lowcmd_msg.motor_cmd[i*3+1].tau = 0;
// lowcmd_msg.motor_cmd[i*3+2].mode = 0x0A;
lowcmd_msg.motor_cmd[i*3+2].kp = 300;
// lowcmd_msg.motor_cmd[i*3+2].dq = 0;
lowcmd_msg.motor_cmd[i*3+2].kd = 15;
lowcmd_msg.motor_cmd[i*3+2].tau = 0;
}
} }
struct { struct {
@ -303,6 +329,33 @@ void Custom::lowcmd_callback(unitree_go::msg::Go2pyLowCmd::SharedPtr data)
} }
} }
void Custom::joint_cmd_callback(sensor_msgs::msg::JointState::SharedPtr data) {
if(Estop == 0)
{
for(int i=0; i<12; i++)
{
lowcmd_msg.motor_cmd[i].q = data->position[i]; // Taregt angular(rad)
// lowcmd_msg.motor_cmd[i].kp = data->kp[i]; // Poinstion(rad) control kp gain
lowcmd_msg.motor_cmd[i].dq = data->velocity[i]; // Taregt angular velocity(rad/ss)
// lowcmd_msg.motor_cmd[i].kd = data->kd[i]; // Poinstion(rad) control kd gain
lowcmd_msg.motor_cmd[i].tau = data->effort[i]; // Feedforward toque 1N.m
get_crc(lowcmd_msg); //Compute the CRC and load it into the message
lowcmd_puber->publish(lowcmd_msg); //Publish lowcmd message
}
} else {
for(int i=0; i<12; i++)
{
lowcmd_msg.motor_cmd[i].q = 0.; // Taregt angular(rad)
lowcmd_msg.motor_cmd[i].kp = 0.; // Poinstion(rad) control kp gain
lowcmd_msg.motor_cmd[i].dq = 0.; // Taregt angular velocity(rad/ss)
lowcmd_msg.motor_cmd[i].kd = 0; // Poinstion(rad) control kd gain
lowcmd_msg.motor_cmd[i].tau = 0.; // Feedforward toque 1N.m
get_crc(lowcmd_msg); //Compute the CRC and load it into the message
lowcmd_puber->publish(lowcmd_msg); //Publish lowcmd message
}
}
}
void Custom::watchdog() void Custom::watchdog()
{ {
if(Estop == 1) if(Estop == 1)