2024-09-09 22:18:19 +08:00
|
|
|
# Controller Manager configuration
|
|
|
|
|
controller_manager:
|
|
|
|
|
ros__parameters:
|
2024-09-19 22:45:08 +08:00
|
|
|
update_rate: 500 # Hz
|
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
|
|
|
|
|
|
2024-09-19 22:45:08 +08:00
|
|
|
leg_pd_controller:
|
|
|
|
|
type: leg_pd_controller/LegPdController
|
|
|
|
|
|
2024-09-20 12:48:45 +08:00
|
|
|
unitree_guide_controller:
|
|
|
|
|
type: unitree_guide_controller/UnitreeGuideController
|
|
|
|
|
|
2024-09-09 22:18:19 +08:00
|
|
|
imu_sensor_broadcaster:
|
|
|
|
|
ros__parameters:
|
|
|
|
|
sensor_name: "imu_sensor"
|
2024-09-19 22:45:08 +08:00
|
|
|
frame_id: "imu_sensor"
|
|
|
|
|
|
|
|
|
|
leg_pd_controller:
|
|
|
|
|
ros__parameters:
|
|
|
|
|
joints:
|
|
|
|
|
- RF_HAA
|
2024-09-20 12:48:45 +08:00
|
|
|
- RF_HFE
|
2024-09-19 22:45:08 +08:00
|
|
|
- RF_KFE
|
|
|
|
|
- LF_HAA
|
|
|
|
|
- LF_HFE
|
|
|
|
|
- LF_KFE
|
|
|
|
|
- RH_HAA
|
|
|
|
|
- RH_HFE
|
|
|
|
|
- RH_KFE
|
|
|
|
|
- LH_HAA
|
|
|
|
|
- LH_HFE
|
|
|
|
|
- LH_KFE
|
|
|
|
|
|
|
|
|
|
command_interfaces:
|
|
|
|
|
- effort
|
|
|
|
|
|
|
|
|
|
state_interfaces:
|
|
|
|
|
- position
|
|
|
|
|
- velocity
|
|
|
|
|
|
|
|
|
|
unitree_guide_controller:
|
|
|
|
|
ros__parameters:
|
2024-09-20 12:48:45 +08:00
|
|
|
command_prefix: "leg_pd_controller"
|
2024-09-19 22:45:08 +08:00
|
|
|
joints:
|
|
|
|
|
- RF_HAA
|
2024-09-20 12:48:45 +08:00
|
|
|
- RF_HFE
|
2024-09-19 22:45:08 +08:00
|
|
|
- RF_KFE
|
|
|
|
|
- LF_HAA
|
|
|
|
|
- LF_HFE
|
|
|
|
|
- LF_KFE
|
|
|
|
|
- RH_HAA
|
|
|
|
|
- RH_HFE
|
|
|
|
|
- RH_KFE
|
|
|
|
|
- LH_HAA
|
|
|
|
|
- LH_HFE
|
|
|
|
|
- LH_KFE
|
|
|
|
|
|
|
|
|
|
command_interfaces:
|
2024-09-20 12:48:45 +08:00
|
|
|
- effort
|
2024-09-19 22:45:08 +08:00
|
|
|
- position
|
|
|
|
|
- velocity
|
|
|
|
|
- kp
|
|
|
|
|
- kd
|
|
|
|
|
|
|
|
|
|
state_interfaces:
|
|
|
|
|
- effort
|
|
|
|
|
- position
|
|
|
|
|
- velocity
|
|
|
|
|
|
2024-09-20 12:48:45 +08:00
|
|
|
feet_names:
|
|
|
|
|
- RF_FOOT
|
|
|
|
|
- LF_FOOT
|
|
|
|
|
- RH_FOOT
|
|
|
|
|
- LH_FOOT
|
|
|
|
|
|
2024-09-19 22:45:08 +08:00
|
|
|
imu_name: "imu_sensor"
|
2024-09-20 17:56:00 +08:00
|
|
|
base_name: "base"
|
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
|
