quadruped_ros2_control/descriptions/unitree/go2_description/config/robot_control.yaml

# Controller Manager configuration
controller_manager:
  ros__parameters:
    update_rate: 1000  # Hz

    # Define the available controllers
    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

    imu_sensor_broadcaster:
      type: imu_sensor_broadcaster/IMUSensorBroadcaster

    unitree_guide_controller:
      type: unitree_guide_controller/UnitreeGuideController

    ocs2_quadruped_controller:
      type: ocs2_quadruped_controller/Ocs2QuadrupedController

    rl_quadruped_controller:
      type: rl_quadruped_controller/LeggedGymController

imu_sensor_broadcaster:
  ros__parameters:
    sensor_name: "imu_sensor"
    frame_id: "imu_link"

unitree_guide_controller:
  ros__parameters:
    update_rate: 500  # Hz
    joints:
      - FR_hip_joint
      - FR_thigh_joint
      - FR_calf_joint
      - FL_hip_joint
      - FL_thigh_joint
      - FL_calf_joint
      - RR_hip_joint
      - RR_thigh_joint
      - RR_calf_joint
      - RL_hip_joint
      - RL_thigh_joint
      - RL_calf_joint

    command_interfaces:
      - effort
      - position
      - velocity
      - kp
      - kd

    state_interfaces:
      - effort
      - position
      - velocity

    feet_names:
      - FR_foot
      - FL_foot
      - RR_foot
      - RL_foot

    imu_name: "imu_sensor"
    base_name: "base"

    imu_interfaces:
      - orientation.w
      - orientation.x
      - orientation.y
      - orientation.z
      - angular_velocity.x
      - angular_velocity.y
      - angular_velocity.z
      - linear_acceleration.x
      - linear_acceleration.y
      - linear_acceleration.z

ocs2_quadruped_controller:
  ros__parameters:
    update_rate: 100  # Hz

    joints:
      - FL_hip_joint
      - FL_thigh_joint
      - FL_calf_joint
      - FR_hip_joint
      - FR_thigh_joint
      - FR_calf_joint
      - RL_hip_joint
      - RL_thigh_joint
      - RL_calf_joint
      - RR_hip_joint
      - RR_thigh_joint
      - RR_calf_joint

    command_interfaces:
      - effort
      - position
      - velocity
      - kp
      - kd

    state_interfaces:
      - effort
      - position
      - velocity

    feet:
      - FL_foot
      - FR_foot
      - RL_foot
      - RR_foot

    imu_name: "imu_sensor"
    base_name: "base"

    imu_interfaces:
      - orientation.w
      - orientation.x
      - orientation.y
      - orientation.z
      - angular_velocity.x
      - angular_velocity.y
      - angular_velocity.z
      - linear_acceleration.x
      - linear_acceleration.y
      - linear_acceleration.z

    foot_force_name: "foot_force"
    foot_force_interfaces:
      - FL
      - RL
      - FR
      - RR

rl_quadruped_controller:
  ros__parameters:
    update_rate: 200  # Hz
    joints:
      - FL_hip_joint
      - FL_thigh_joint
      - FL_calf_joint
      - FR_hip_joint
      - FR_thigh_joint
      - FR_calf_joint
      - RL_hip_joint
      - RL_thigh_joint
      - RL_calf_joint
      - RR_hip_joint
      - RR_thigh_joint
      - RR_calf_joint

    command_interfaces:
      - effort
      - position
      - velocity
      - kp
      - kd

    state_interfaces:
      - effort
      - position
      - velocity

    feet_names:
      - FL_foot
      - FR_foot
      - RL_foot
      - RR_foot

    imu_name: "imu_sensor"
    base_name: "base"

    imu_interfaces:
      - orientation.w
      - orientation.x
      - orientation.y
      - orientation.z
      - angular_velocity.x
      - angular_velocity.y
      - angular_velocity.z
      - linear_acceleration.x
      - linear_acceleration.y
      - linear_acceleration.z
init commit 2024-09-09 22:18:19 +08:00			`# Controller Manager configuration`
			`controller_manager:`
			`ros__parameters:`
tried go2 rl control but failed 2024-10-10 21:22:58 +08:00			`update_rate: 1000 # Hz`
init commit 2024-09-09 22:18:19 +08:00
			`# Define the available controllers`
			`joint_state_broadcaster:`
add imu to hardware interface 2024-09-14 11:41:38 +08:00			`type: joint_state_broadcaster/JointStateBroadcaster`

			`imu_sensor_broadcaster:`
			`type: imu_sensor_broadcaster/IMUSensorBroadcaster`

fixed the frequency problem 2024-09-14 17:54:39 +08:00			`unitree_guide_controller:`
			`type: unitree_guide_controller/UnitreeGuideController`

state estimate tested 2024-09-25 21:01:50 +08:00			`ocs2_quadruped_controller:`
			`type: ocs2_quadruped_controller/Ocs2QuadrupedController`

tried go2 rl control but failed 2024-10-10 21:22:58 +08:00			`rl_quadruped_controller:`
			`type: rl_quadruped_controller/LeggedGymController`

add imu to hardware interface 2024-09-14 11:41:38 +08:00			`imu_sensor_broadcaster:`
			`ros__parameters:`
			`sensor_name: "imu_sensor"`
fixed the frequency problem 2024-09-14 17:54:39 +08:00			`frame_id: "imu_link"`

			`unitree_guide_controller:`
			`ros__parameters:`
add imu estimator 2024-09-16 13:44:08 +08:00			`update_rate: 500 # Hz`
fixed the frequency problem 2024-09-14 17:54:39 +08:00			`joints:`
			`- FR_hip_joint`
			`- FR_thigh_joint`
			`- FR_calf_joint`
			`- FL_hip_joint`
			`- FL_thigh_joint`
			`- FL_calf_joint`
			`- RR_hip_joint`
			`- RR_thigh_joint`
			`- RR_calf_joint`
			`- RL_hip_joint`
			`- RL_thigh_joint`
			`- RL_calf_joint`

			`command_interfaces:`
can visualize and control gazebo robots 2024-09-20 12:48:45 +08:00			`- effort`
fixed the frequency problem 2024-09-14 17:54:39 +08:00			`- position`
			`- velocity`
			`- kp`
			`- kd`

			`state_interfaces:`
			`- effort`
			`- position`
add imu estimator 2024-09-16 13:44:08 +08:00			`- velocity`

can visualize and control gazebo robots 2024-09-20 12:48:45 +08:00			`feet_names:`
fix go2 config 2024-09-20 13:07:59 +08:00			`- FR_foot`
			`- FL_foot`
			`- RR_foot`
			`- RL_foot`
can visualize and control gazebo robots 2024-09-20 12:48:45 +08:00
add imu estimator 2024-09-16 13:44:08 +08:00			`imu_name: "imu_sensor"`
add cyber dog 2024-09-20 17:56:00 +08:00			`base_name: "base"`
add imu estimator 2024-09-16 13:44:08 +08:00
			`imu_interfaces:`
can stand but not stable 2024-09-17 14:03:08 +08:00			`- orientation.w`
tried to add balance test 2024-09-16 21:15:34 +08:00			`- orientation.x`
			`- orientation.y`
			`- orientation.z`
add imu estimator 2024-09-16 13:44:08 +08:00			`- angular_velocity.x`
			`- angular_velocity.y`
			`- angular_velocity.z`
			`- linear_acceleration.x`
			`- linear_acceleration.y`
state estimate tested 2024-09-25 21:01:50 +08:00			`- linear_acceleration.z`

			`ocs2_quadruped_controller:`
			`ros__parameters:`
tried go2 rl control but failed 2024-10-10 21:22:58 +08:00			`update_rate: 100 # Hz`
state estimate tested 2024-09-25 21:01:50 +08:00
			`joints:`
			`- FL_hip_joint`
			`- FL_thigh_joint`
			`- FL_calf_joint`
			`- FR_hip_joint`
			`- FR_thigh_joint`
			`- FR_calf_joint`
able to work on wbc 2024-09-29 17:09:06 +08:00			`- RL_hip_joint`
			`- RL_thigh_joint`
			`- RL_calf_joint`
state estimate tested 2024-09-25 21:01:50 +08:00			`- RR_hip_joint`
			`- RR_thigh_joint`
			`- RR_calf_joint`

			`command_interfaces:`
			`- effort`
			`- position`
			`- velocity`
			`- kp`
			`- kd`

			`state_interfaces:`
			`- effort`
			`- position`
			`- velocity`

load joint names and feet names from config file 2024-10-02 13:45:21 +08:00			`feet:`
state estimate tested 2024-09-25 21:01:50 +08:00			`- FL_foot`
			`- FR_foot`
able to work on wbc 2024-09-29 17:09:06 +08:00			`- RL_foot`
state estimate tested 2024-09-25 21:01:50 +08:00			`- RR_foot`

			`imu_name: "imu_sensor"`
			`base_name: "base"`

			`imu_interfaces:`
			`- orientation.w`
			`- orientation.x`
			`- orientation.y`
			`- orientation.z`
			`- angular_velocity.x`
			`- angular_velocity.y`
			`- angular_velocity.z`
			`- linear_acceleration.x`
			`- linear_acceleration.y`
			`- linear_acceleration.z`

			`foot_force_name: "foot_force"`
			`foot_force_interfaces:`
			`- FL`
			`- RL`
			`- FR`
tried go2 rl control but failed 2024-10-10 21:22:58 +08:00			`- RR`

			`rl_quadruped_controller:`
			`ros__parameters:`
			`update_rate: 200 # Hz`
			`joints:`
			`- FL_hip_joint`
			`- FL_thigh_joint`
			`- FL_calf_joint`
			`- FR_hip_joint`
			`- FR_thigh_joint`
			`- FR_calf_joint`
			`- RL_hip_joint`
			`- RL_thigh_joint`
			`- RL_calf_joint`
			`- RR_hip_joint`
			`- RR_thigh_joint`
			`- RR_calf_joint`

			`command_interfaces:`
			`- effort`
			`- position`
			`- velocity`
			`- kp`
			`- kd`

			`state_interfaces:`
			`- effort`
			`- position`
			`- velocity`

add estimator 2024-10-15 22:40:15 +08:00			`feet_names:`
			`- FL_foot`
			`- FR_foot`
			`- RL_foot`
			`- RR_foot`

tried go2 rl control but failed 2024-10-10 21:22:58 +08:00			`imu_name: "imu_sensor"`
add estimator 2024-10-15 22:40:15 +08:00			`base_name: "base"`
tried go2 rl control but failed 2024-10-10 21:22:58 +08:00
			`imu_interfaces:`
			`- orientation.w`
			`- orientation.x`
			`- orientation.y`
			`- orientation.z`
			`- angular_velocity.x`
			`- angular_velocity.y`
			`- angular_velocity.z`
			`- linear_acceleration.x`
			`- linear_acceleration.y`
			`- linear_acceleration.z`