Quadruped ROS2 Control

This repository contains the ros2-control based controllers for the quadruped robot.

• Controllers: contains the ros2-control controllers
• Commands: contains command node used to send command to the controller
• Descriptions: contains the urdf model of the robot
• Hardwares: contains the ros2-control hardware interface for the robot

Todo List:

• Mujoco Simulation
• Unitree Guide Controller
• Gazebo Simulation
• Leg PD Controller
• Contact Sensor Simulation
• OCS2 Quadruped Control
• Learning-based Controller
• Fully understand the RL Workflow
• ROS2 Humble Gazebo Classic Support

Video for Unitree Guide Controller:

Video for OCS2 Quadruped Controller:

Video for RL Quadruped Controller:

1. Quick Start

• rosdep

  cd ~/ros2_ws
  rosdep install --from-paths src --ignore-src -r -y
  

• Compile the package

  colcon build --packages-up-to unitree_guide_controller go2_description keyboard_input 
  

1.1 Mujoco Simulator

Please use C++ Simulation in this Mujoco Simulation for more robot models and contact sensor.

Warning: CycloneDDS ROS2 RMW may conflict with unitree_sdk2. If you cannot launch unitree mujoco simulation without sudo, then you cannot used unitree_mujoco_hardware. This conflict could be solved by one of below two methods:

1. Uninstall CycloneDDS ROS2 RMW, or
2. Follow the guide in unitree_ros2 to configure the ROS2 RMW by compiling cyclone dds.

• Compile Unitree Hardware Interfaces

  cd ~/ros2_ws
  colcon build --packages-up-to hardware_unitree_mujoco
  

• Launch the unitree mujoco go2 simulation
• Launch the ros2-control

  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller mujoco.launch.py
  

• Run the keyboard control node

  source ~/ros2_ws/install/setup.bash
  ros2 run keyboard_input keyboard_input
  

1.2 Gazebo Classic Simulator (ROS2 Humble)

• Install Gazebo Classic

  sudo apt-get install ros-humble-gazebo-ros ros-humble-gazebo-ros2-control
  

• Compile Leg PD Controller

  colcon build --packages-up-to leg_pd_controller
  

• Launch the ros2-control

  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller gazebo_classic.launch.py
  

• Run the keyboard control node

  source ~/ros2_ws/install/setup.bash
  ros2 run keyboard_input keyboard_input
  

1.3 Gazebo Harmonic Simulator (ROS2 Jazzy)

• Install Gazebo

  sudo apt-get install ros-jazzy-ros-gz ros-jazzy-gz-ros2-control
  

• Compile Leg PD Controller

  colcon build --packages-up-to leg_pd_controller
  

• Launch the ros2-control

  source ~/ros2_ws/install/setup.bash
  ros2 launch unitree_guide_controller gazebo.launch.py
  

• Run the keyboard control node

  source ~/ros2_ws/install/setup.bash
  ros2 run keyboard_input keyboard_input
  

For more details, please refer to the unitree guide controller and go2 description.

Reference

Conference Paper

[1] Liao, Qiayuan, et al. "Walking in narrow spaces: Safety-critical locomotion control for quadrupedal robots with duality-based optimization." In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2723-2730. IEEE, 2023.

Miscellaneous

[1] Unitree Robotics. unitree_guide: An open source project for controlling the quadruped robot of Unitree Robotics, and it is also the software project accompanying 《四足机器人控制算法--建模、控制与实践》 published by Unitree Robotics. [Online]. Available: https://github.com/unitreerobotics/unitree_guide

[2] Qiayuan Liao. legged_control: An open-source NMPC, WBC, state estimation, and sim2real framework for legged robots. [Online]. Available: https://github.com/qiayuanl/legged_control

[3] Ziqi Fan. rl_sar: Simulation Verification and Physical Deployment of Robot Reinforcement Learning Algorithm. 2024. Available: https://github.com/fan-ziqi/rl_sar