add estimator

controllers/rl_quadruped_controller/README.md

@@ -31,4 +31,10 @@ colcon build --packages-up-to rl_quadruped_controller
   ```bash
   source ~/ros2_ws/install/setup.bash
   ros2 launch a1_description rl_control.launch.py
+  ```
+
+* Unitree Go2 Robot
+  ```bash
+  source ~/ros2_ws/install/setup.bash
+  ros2 launch go2_description rl_control.launch.py
   ```

controllers/rl_quadruped_controller/src/FSM/StateRL.cpp

@@ -45,14 +45,20 @@ StateRL::StateRL(CtrlComponent &ctrl_component, const std::string &config_path)
     loadYaml(config_path);
 
     // history
-    if (!params_.observations_history.empty())
+    if (!params_.observations_history.empty()) {
-    {
+        history_obs_buf_ = std::make_shared<ObservationBuffer>(1, params_.num_observations,
-        history_obs_buf_ = std::make_shared<ObservationBuffer>(1, params_.num_observations, params_.observations_history.size());
+                                                               params_.observations_history.size());
     }
 
     model_ = torch::jit::load(config_path + "/" + params_.model_name);
     std::cout << "Model loaded: " << config_path + "/" + params_.model_name << std::endl;
 
+
+    // for (const auto &param: model_.parameters()) {
+    //     std::cout << "Parameter dtype: " << param.dtype() << std::endl;
+    // }
+
+
     rl_thread_ = std::thread([&] {
         while (true) {
             try {
@@ -137,6 +143,8 @@ torch::Tensor StateRL::computeObservation() {
     }
 
     const torch::Tensor obs = cat(obs_list, 1);
+
+    std::cout << "Observation: " << obs << std::endl;
     torch::Tensor clamped_obs = clamp(obs, -params_.clip_obs, params_.clip_obs);
     return clamped_obs;
 }
@@ -156,12 +164,9 @@ void StateRL::loadYaml(const std::string &config_path) {
     params_.framework = config["framework"].as<std::string>();
     const int rows = config["rows"].as<int>();
     const int cols = config["cols"].as<int>();
-    if (config["observations_history"].IsNull())
+    if (config["observations_history"].IsNull()) {
-    {
         params_.observations_history = {};
-    }
+    } else {
-    else
-    {
         params_.observations_history = ReadVectorFromYaml<int>(config["observations_history"]);
     }
     params_.decimation = config["decimation"].as<int>();
@@ -226,14 +231,11 @@ torch::Tensor StateRL::forward() {
     torch::Tensor clamped_obs = computeObservation();
     torch::Tensor actions;
 
-    if (!params_.observations_history.empty())
+    if (!params_.observations_history.empty()) {
-    {
         history_obs_buf_->insert(clamped_obs);
         history_obs_ = history_obs_buf_->getObsVec(params_.observations_history);
         actions = model_.forward({history_obs_}).toTensor();
-    }
+    } else {
-    else
-    {
         actions = model_.forward({clamped_obs}).toTensor();
     }
 
@@ -278,7 +280,8 @@ void StateRL::getState() {
 }
 
 void StateRL::runModel() {
-    obs_.lin_vel = torch::tensor(ctrl_comp_.estimator_->getVelocity().data()).unsqueeze(0);
+    obs_.lin_vel = torch::from_blob(ctrl_comp_.estimator_->getVelocity().data(), {3}, torch::kDouble).clone().
+            to(torch::kFloat).unsqueeze(0);
     obs_.ang_vel = torch::tensor(robot_state_.imu.gyroscope).unsqueeze(0);
     obs_.commands = torch::tensor({{control_.x, control_.y, control_.yaw}});
     obs_.base_quat = torch::tensor(robot_state_.imu.quaternion).unsqueeze(0);

controllers/rl_quadruped_controller/src/RlQuadrupedController.cpp

@@ -93,7 +93,7 @@ namespace rl_quadruped_controller {
             // foot_force_sensor
             foot_force_name_ = auto_declare<std::string>("foot_force_name", foot_force_name_);
             foot_force_interface_types_ =
-                    auto_declare<std::vector<std::string> >("foot_force_interfaces", state_interface_types_);
+                    auto_declare<std::vector<std::string> >("foot_force_interfaces", foot_force_interface_types_);
 
             // rl config folder
             rl_config_folder_ = auto_declare<std::string>("config_folder", rl_config_folder_);

controllers/rl_quadruped_controller/src/RlQuadrupedController.h

@@ -81,7 +81,7 @@ namespace rl_quadruped_controller {
         std::vector<std::string> imu_interface_types_;
         // Foot Force Sensor
         std::string foot_force_name_ = "foot_force";
-        std::vector<std::string> foot_force_interface_types_ = {"force", "torque"};
+        std::vector<std::string> foot_force_interface_types_ = {"FL", "FR", "RL", "RR"};
 
         std::string rl_config_folder_;
 

controllers/rl_quadruped_controller/src/control/Estimator.cpp

@@ -217,10 +217,10 @@ void Estimator::update() {
         Ppriori * C.transpose() * SR * STC * Ppriori.transpose();
 
     // // Using low pass filter to smooth the velocity
-    low_pass_filters_[0]->addValue(x_hat_(3));
+    // low_pass_filters_[0]->addValue(x_hat_(3));
-    low_pass_filters_[1]->addValue(x_hat_(4));
+    // low_pass_filters_[1]->addValue(x_hat_(4));
-    low_pass_filters_[2]->addValue(x_hat_(5));
+    // low_pass_filters_[2]->addValue(x_hat_(5));
-    x_hat_(3) = low_pass_filters_[0]->getValue();
+    // x_hat_(3) = low_pass_filters_[0]->getValue();
-    x_hat_(4) = low_pass_filters_[1]->getValue();
+    // x_hat_(4) = low_pass_filters_[1]->getValue();
-    x_hat_(5) = low_pass_filters_[2]->getValue();
+    // x_hat_(5) = low_pass_filters_[2]->getValue();
 }

controllers/unitree_guide_controller/src/control/Estimator.cpp

@@ -137,10 +137,10 @@ Estimator::Estimator(CtrlComponent &ctrl_component) : ctrl_component_(ctrl_compo
     QInit_ = Qdig.asDiagonal();
     QInit_ += B * Cu * B.transpose();
 
-    // low_pass_filters_.resize(3);
+    low_pass_filters_.resize(3);
-    // low_pass_filters_[0] = std::make_shared<LowPassFilter>(dt_, 3.0);
+    low_pass_filters_[0] = std::make_shared<LowPassFilter>(dt_, 3.0);
-    // low_pass_filters_[1] = std::make_shared<LowPassFilter>(dt_, 3.0);
+    low_pass_filters_[1] = std::make_shared<LowPassFilter>(dt_, 3.0);
-    // low_pass_filters_[2] = std::make_shared<LowPassFilter>(dt_, 3.0);
+    low_pass_filters_[2] = std::make_shared<LowPassFilter>(dt_, 3.0);
 }
 
 double Estimator::getYaw() const {

descriptions/unitree/a1_description/config/gazebo.yaml

@@ -100,7 +100,7 @@ unitree_guide_controller:
 rl_quadruped_controller:
   ros__parameters:
     update_rate: 200  # Hz
-    config_folder: "/home/biao/ros2_ws/install/a1_description/share/a1_description/config/issacgym"
+    config_folder: "/home/tlab-uav/ros2_ws/install/a1_description/share/a1_description/config/issacgym"
     command_prefix: "leg_pd_controller"
     joints:
       - FL_hip_joint

descriptions/unitree/a1_description/config/robot_control.yaml

@@ -1,7 +1,7 @@
 # Controller Manager configuration
 controller_manager:
   ros__parameters:
-    update_rate: 500  # Hz
+    update_rate: 1000  # Hz
 
     # Define the available controllers
     joint_state_broadcaster:
@@ -135,7 +135,7 @@ ocs2_quadruped_controller:
 
 rl_quadruped_controller:
   ros__parameters:
-    update_rate: 100  # Hz
+    update_rate: 200  # Hz
     joints:
       - FL_hip_joint
       - FL_thigh_joint
@@ -163,10 +163,10 @@ rl_quadruped_controller:
       - velocity
 
     feet_names:
-      - FR_foot
       - FL_foot
-      - RR_foot
+      - FR_foot
       - RL_foot
+      - RR_foot
 
     imu_name: "imu_sensor"
     base_name: "base"

descriptions/unitree/go2_description/config/issacgym/config.yaml

@@ -1,11 +1,11 @@
-model_name: "himloco.pt"
+model_name: "policy.pt"
 framework: "isaacgym"
 rows: 4
 cols: 3
 decimation: 4
 num_observations: 48
-observations: ["lin_vel", "ang_vel", "gravity_vec", "dof_pos", "dof_vel", "actions"]
+observations: ["lin_vel", "ang_vel", "gravity_vec", "commands", "dof_pos", "dof_vel", "actions"]
-observations_history: [5, 4, 3, 2, 1, 0]
+#observations_history: [6, 5, 4, 3, 2, 1, 0]
 clip_obs: 100.0
 clip_actions_lower: [-100, -100, -100,
                      -100, -100, -100,
@@ -15,14 +15,14 @@ clip_actions_upper: [100, 100, 100,
                      100, 100, 100,
                      100, 100, 100,
                      100, 100, 100]
-rl_kp: [40, 40, 40,
+rl_kp: [20, 20, 20,
-        40, 40, 40,
+        20, 20, 20,
-        40, 40, 40,
+        20, 20, 20,
-        40, 40, 40]
+        20, 20, 20]
-rl_kd: [1, 1, 1,
+rl_kd: [0.5, 0.5, 0.5,
-        1, 1, 1,
+        0.5, 0.5, 0.5,
-        1, 1, 1,
+        0.5, 0.5, 0.5,
-        1, 1, 1]
+        0.5, 0.5, 0.5]
 fixed_kp: [60, 60, 60,
            60, 60, 60,
            60, 60, 60,
@@ -35,11 +35,14 @@ hip_scale_reduction: 1.0
 hip_scale_reduction_indices: [0, 3, 6, 9]
 num_of_dofs: 12
 action_scale: 0.25
+
 lin_vel_scale: 2.0
 ang_vel_scale: 0.25
 dof_pos_scale: 1.0
 dof_vel_scale: 0.05
+
 commands_scale: [2.0, 2.0, 0.25]
+
 torque_limits: [33.5, 33.5, 33.5,
                 33.5, 33.5, 33.5,
                 33.5, 33.5, 33.5,

descriptions/unitree/go2_description/config/robot_control.yaml

@@ -161,7 +161,14 @@ rl_quadruped_controller:
       - position
       - velocity
 
+    feet_names:
+      - FL_foot
+      - FR_foot
+      - RL_foot
+      - RR_foot
+
     imu_name: "imu_sensor"
+    base_name: "base"
 
     imu_interfaces:
       - orientation.w