quadruped_ros2_control/descriptions/deep_robotics/lite3_description/config/gazebo.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"
    update_rate: 200

ocs2_quadruped_controller:
  ros__parameters:
    update_rate: 200  # Hz
    robot_pkg: "lite3_description"
    default_kd: 2.0
    joints:
      - FL_HipX
      - FL_HipY
      - FL_Knee
      - FR_HipX
      - FR_HipY
      - FR_Knee
      - HL_HipX
      - HL_HipY
      - HL_Knee
      - HR_HipX
      - HR_HipY
      - HR_Knee

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

    state_interfaces:
      - effort
      - position
      - velocity

    feet:
      - FL_FOOT
      - FR_FOOT
      - HL_FOOT
      - HR_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

#    estimator_type: "odom"
    foot_force_name: "foot_force"
    foot_force_interfaces:
      - FL_foot_force
      - HL_foot_force
      - FR_foot_force
      - HR_foot_force

unitree_guide_controller:
  ros__parameters:
    update_rate: 200  # Hz
#    stand_kp: 30.0
    stand_kd: 1.0
    joints:
      - FR_HipX
      - FR_HipY
      - FR_Knee
      - FL_HipX
      - FL_HipY
      - FL_Knee
      - HR_HipX
      - HR_HipY
      - HR_Knee
      - HL_HipX
      - HL_HipY
      - HL_Knee

    down_pos:
      - 0.0
      - -1.22
      - 2.61
      - 0.0
      - -1.22
      - 2.61
      - 0.0
      - -1.22
      - 2.61
      - 0.0
      - -1.22
      - 2.61

    stand_pos:
      - 0.0
      - -0.732
      - 1.361
      - 0.0
      - -0.732
      - 1.361
      - 0.0
      - -0.732
      - 1.361
      - 0.0
      - -0.732
      - 1.361

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

    state_interfaces:
      - effort
      - position
      - velocity

    feet_names:
      - FR_FOOT
      - FL_FOOT
      - HR_FOOT
      - HL_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
add deep robotics lite3 2024-10-09 21:17:45 +08:00			`# Controller Manager configuration`
			`controller_manager:`
			`ros__parameters:`
add more support for gazebo classic simulationn 2024-10-24 15:05:26 +08:00			`update_rate: 1000 # Hz`
add deep robotics lite3 2024-10-09 21:17:45 +08:00
			`# 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`

add lidar for deep robotics lite3 2025-03-01 22:08:59 +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 deep robotics lite3 2024-10-09 21:17:45 +08:00
			`imu_sensor_broadcaster:`
			`ros__parameters:`
			`sensor_name: "imu_sensor"`
			`frame_id: "imu_link"`
cartographer and gazebo test 2025-03-24 01:01:36 +08:00			`update_rate: 200`
add deep robotics lite3 2024-10-09 21:17:45 +08:00
add lidar for deep robotics lite3 2025-03-01 22:08:59 +08:00			`ocs2_quadruped_controller:`
add deep robotics lite3 2024-10-09 21:17:45 +08:00			`ros__parameters:`
add lidar for deep robotics lite3 2025-03-01 22:08:59 +08:00			`update_rate: 200 # Hz`
			`robot_pkg: "lite3_description"`
			`default_kd: 2.0`
add deep robotics lite3 2024-10-09 21:17:45 +08:00			`joints:`
			`- FL_HipX`
			`- FL_HipY`
			`- FL_Knee`
add lidar for deep robotics lite3 2025-03-01 22:08:59 +08:00			`- FR_HipX`
			`- FR_HipY`
			`- FR_Knee`
add deep robotics lite3 2024-10-09 21:17:45 +08:00			`- HL_HipX`
			`- HL_HipY`
			`- HL_Knee`
add lidar for deep robotics lite3 2025-03-01 22:08:59 +08:00			`- HR_HipX`
			`- HR_HipY`
			`- HR_Knee`
add deep robotics lite3 2024-10-09 21:17:45 +08:00
			`command_interfaces:`
			`- effort`
add lidar for deep robotics lite3 2025-03-01 22:08:59 +08:00			`- position`
			`- velocity`
			`- kp`
			`- kd`
add deep robotics lite3 2024-10-09 21:17:45 +08:00
			`state_interfaces:`
add lidar for deep robotics lite3 2025-03-01 22:08:59 +08:00			`- effort`
add deep robotics lite3 2024-10-09 21:17:45 +08:00			`- position`
			`- velocity`

add lidar for deep robotics lite3 2025-03-01 22:08:59 +08:00			`feet:`
			`- FL_FOOT`
			`- FR_FOOT`
			`- HL_FOOT`
			`- HR_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`

			`# estimator_type: "odom"`
			`foot_force_name: "foot_force"`
			`foot_force_interfaces:`
			`- FL_foot_force`
			`- HL_foot_force`
			`- FR_foot_force`
			`- HR_foot_force`

add deep robotics lite3 2024-10-09 21:17:45 +08:00			`unitree_guide_controller:`
			`ros__parameters:`
			`update_rate: 200 # Hz`
add more support for gazebo classic simulationn 2024-10-24 15:05:26 +08:00			`# stand_kp: 30.0`
			`stand_kd: 1.0`
add deep robotics lite3 2024-10-09 21:17:45 +08:00			`joints:`
			`- FR_HipX`
			`- FR_HipY`
			`- FR_Knee`
			`- FL_HipX`
			`- FL_HipY`
			`- FL_Knee`
			`- HR_HipX`
			`- HR_HipY`
			`- HR_Knee`
			`- HL_HipX`
			`- HL_HipY`
			`- HL_Knee`

rl controller enhanced 2024-10-21 21:47:25 +08:00			`down_pos:`
			`- 0.0`
			`- -1.22`
			`- 2.61`
			`- 0.0`
			`- -1.22`
			`- 2.61`
			`- 0.0`
			`- -1.22`
			`- 2.61`
			`- 0.0`
			`- -1.22`
			`- 2.61`

			`stand_pos:`
			`- 0.0`
			`- -0.732`
			`- 1.361`
			`- 0.0`
			`- -0.732`
			`- 1.361`
			`- 0.0`
			`- -0.732`
			`- 1.361`
			`- 0.0`
			`- -0.732`
			`- 1.361`

add deep robotics lite3 2024-10-09 21:17:45 +08:00			`command_interfaces:`
			`- effort`
			`- position`
			`- velocity`
			`- kp`
			`- kd`

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

			`feet_names:`
			`- FR_FOOT`
			`- FL_FOOT`
			`- HR_FOOT`
			`- HL_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`