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Go2Py_SIM
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Merge branch 'main' of github.com:Rooholla-KhorramBakht/Go2Py into main

This commit is contained in:
Rooholla-KhorramBakht 2024-02-11 12:20:47 +08:00
parent acb9433938 3adf799d6b
commit 5d606b9f26
1 changed files with 65 additions and 10 deletions
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75
deploy/robot_ws/src/go2py_node/src/bridge.cpp
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@ -29,6 +29,7 @@ class Custom: public rclcpp::Node
public:
Custom() : Node("go2py_bridge_node")
{
watchdog_timer = this->create_wall_timer(std::chrono::milliseconds(10), std::bind(&Custom::watchdog, this));
pub_odom = this->create_publisher<nav_msgs::msg::Odometry>("/go2/odom", 1);
pub_imu = this->create_publisher<sensor_msgs::msg::Imu>("/go2/imu", 1);
pub_joint = this->create_publisher<sensor_msgs::msg::JointState>("/go2/joint_states", 1);
@ -53,6 +54,8 @@ class Custom: public rclcpp::Node
}
private:
rclcpp::TimerBase::SharedPtr watchdog_timer;
void watchdog();
// Highlevel twist command through standard ROS2 message type
void twistCmdCallback(const geometry_msgs::msg::TwistStamped::SharedPtr msg);
geometry_msgs::msg::TwistStamped twist_cmd;
@ -114,6 +117,7 @@ class Custom: public rclcpp::Node
float vy;
float foot_force[4];
}highstate;
int Estop = 0;
};
void Custom::lowstate_callback(unitree_go::msg::LowState::SharedPtr data)
@ -175,6 +179,18 @@ void Custom::lowstate_callback(unitree_go::msg::LowState::SharedPtr data)
*/
pub_joint->publish(joint_state);
pub_imu->publish(imu);
// Check for emergency stop
memcpy(&_keyData, &data->wireless_remote[0], 40);
if (_keyData.btn.components.R2 == 1 && _keyData.btn.components.L2 == 1)
{
Estop = 1;
}
if ((_keyData.btn.components.R1 == 1 && _keyData.btn.components.L1 == 1)||
(_keyData.btn.components.L2 == 1 && _keyData.btn.components.A == 1))
{
Estop = 0;
}
// std::cout << "Estop: " << Estop << std::endl;
}
void Custom::highstate_callback(unitree_go::msg::SportModeState::SharedPtr data)
@ -231,22 +247,61 @@ void Custom::twistCmdCallback(const geometry_msgs::msg::TwistStamped::SharedPtr
{
auto stamp_now = std::chrono::high_resolution_clock::now();
last_highcmd_stamp = std::chrono::duration_cast<std::chrono::microseconds>(stamp_now.time_since_epoch()).count();
sport_req.Move(highreq, msg->twist.linear.x, msg->twist.linear.y, msg->twist.angular.z);
if(Estop == 0)
sport_req.Move(highreq, msg->twist.linear.x, msg->twist.linear.y, msg->twist.angular.z);
else
sport_req.Damp(highreq);
// Publish request messages with desired body velocity
highreq_puber->publish(highreq);
}
void Custom::lowcmd_callback(unitree_go::msg::Go2pyLowCmd::SharedPtr data)
{
for(int i=0; i<12; i++)
{
if(Estop == 0)
{
lowcmd_msg.motor_cmd[i].q = data->q[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->dq[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->tau[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
for(int i=0; i<12; i++)
{
lowcmd_msg.motor_cmd[i].q = data->q[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->dq[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->tau[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()
{
if(Estop == 1)
{
sport_req.Damp(highreq);
highreq_puber->publish(highreq);
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 = 3; // 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
}
lowcmd_puber->publish(lowcmd_msg);
}
}