quadruped_ros2_control/descriptions/unitree/aliengo_description/config/gazebo.yaml

# Controller Manager configuration
controller_manager:
  ros__parameters:
    update_rate: 2000  # Hz

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

    imu_sensor_broadcaster:
      type: imu_sensor_broadcaster/IMUSensorBroadcaster

    leg_pd_controller:
      type: leg_pd_controller/LegPdController

    unitree_guide_controller:
      type: unitree_guide_controller/UnitreeGuideController

    rl_quadruped_controller:
      type: rl_quadruped_controller/LeggedGymController

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

leg_pd_controller:
  ros__parameters:
    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

    state_interfaces:
      - position
      - velocity

unitree_guide_controller:
  ros__parameters:
    command_prefix: "leg_pd_controller"
    update_rate: 500  # Hz
    stand_kp: 100.0
    stand_kd: 8.0
    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
init commit 2024-09-09 22:18:19 +08:00			`# Controller Manager configuration`
			`controller_manager:`
			`ros__parameters:`
add more gazebo simulation support 2024-10-10 22:44:32 +08:00			`update_rate: 2000 # Hz`
init commit 2024-09-09 22:18:19 +08:00
			`# Define the available controllers`
			`joint_state_broadcaster:`
			`type: joint_state_broadcaster/JointStateBroadcaster`

			`imu_sensor_broadcaster:`
			`type: imu_sensor_broadcaster/IMUSensorBroadcaster`

add pd controller 2024-09-19 22:45:08 +08:00			`leg_pd_controller:`
			`type: leg_pd_controller/LegPdController`

can visualize and control gazebo robots 2024-09-20 12:48:45 +08:00			`unitree_guide_controller:`
			`type: unitree_guide_controller/UnitreeGuideController`

add more gazebo simulation support 2024-10-10 22:44:32 +08:00			`rl_quadruped_controller:`
			`type: rl_quadruped_controller/LeggedGymController`

init commit 2024-09-09 22:18:19 +08:00			`imu_sensor_broadcaster:`
			`ros__parameters:`
			`sensor_name: "imu_sensor"`
add more gazebo simulation support 2024-10-10 22:44:32 +08:00			`frame_id: "imu_link"`
add pd controller 2024-09-19 22:45:08 +08:00
			`leg_pd_controller:`
			`ros__parameters:`
			`joints:`
add more gazebo simulation support 2024-10-10 22:44:32 +08:00			`- 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`
add pd controller 2024-09-19 22:45:08 +08:00
			`command_interfaces:`
			`- effort`

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

			`unitree_guide_controller:`
			`ros__parameters:`
can visualize and control gazebo robots 2024-09-20 12:48:45 +08:00			`command_prefix: "leg_pd_controller"`
add more gazebo simulation support 2024-10-10 22:44:32 +08:00			`update_rate: 500 # Hz`
rl controller enhanced 2024-10-21 21:47:25 +08:00			`stand_kp: 100.0`
			`stand_kd: 8.0`
add pd controller 2024-09-19 22:45:08 +08:00			`joints:`
add more gazebo simulation support 2024-10-10 22:44:32 +08:00			`- 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`
add pd controller 2024-09-19 22:45:08 +08:00
			`command_interfaces:`
can visualize and control gazebo robots 2024-09-20 12:48:45 +08:00			`- effort`
add pd controller 2024-09-19 22:45:08 +08:00			`- position`
			`- velocity`
			`- kp`
			`- kd`

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

can visualize and control gazebo robots 2024-09-20 12:48:45 +08:00			`feet_names:`
add more gazebo simulation support 2024-10-10 22:44:32 +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 pd controller 2024-09-19 22:45:08 +08:00			`imu_name: "imu_sensor"`
add cyber dog 2024-09-20 17:56:00 +08:00			`base_name: "base"`
add pd controller 2024-09-19 22:45:08 +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`