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quadruped_ros2_control
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fix launch

This commit is contained in:
Huang Zhenbiao 2024-09-30 20:06:20 +08:00
parent 44df86fc7f
commit 15b3d18181
3 changed files with 10 additions and 10 deletions
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2
descriptions/b2_description/launch/ocs2_control.launch.py
View File

@ -103,7 +103,7 @@ def launch_setup(context, *args, **kwargs):
def generate_launch_description(): def generate_launch_description():
robot_type_arg = DeclareLaunchArgument( robot_type_arg = DeclareLaunchArgument(
'robot_type', 'robot_type',
default_value='aliengo', default_value='b2',
description='Type of the robot' description='Type of the robot'
) )

10
descriptions/go1_description/launch/ocs2_control.launch.py
View File

@ -11,7 +11,7 @@ from launch_ros.substitutions import FindPackageShare
from sympy.physics.vector.printing import params from sympy.physics.vector.printing import params
package_description = "go1_description" package_description = "go1_description"
package_controller = "ocs2_quadruped_controller"
def process_xacro(context): def process_xacro(context):
robot_type_value = context.launch_configurations['robot_type'] robot_type_value = context.launch_configurations['robot_type']
@ -75,7 +75,7 @@ def launch_setup(context, *args, **kwargs):
"--controller-manager", "/controller_manager"], "--controller-manager", "/controller_manager"],
) )
unitree_guide_controller = Node( ocs2_controller = Node(
package="controller_manager", package="controller_manager",
executable="spawner", executable="spawner",
arguments=["ocs2_quadruped_controller", "--controller-manager", "/controller_manager"] arguments=["ocs2_quadruped_controller", "--controller-manager", "/controller_manager"]
@ -94,7 +94,7 @@ def launch_setup(context, *args, **kwargs):
RegisterEventHandler( RegisterEventHandler(
event_handler=OnProcessExit( event_handler=OnProcessExit(
target_action=imu_sensor_broadcaster, target_action=imu_sensor_broadcaster,
on_exit=[unitree_guide_controller], on_exit=[ocs2_controller],
) )
), ),
] ]
@ -103,11 +103,11 @@ def launch_setup(context, *args, **kwargs):
def generate_launch_description(): def generate_launch_description():
robot_type_arg = DeclareLaunchArgument( robot_type_arg = DeclareLaunchArgument(
'robot_type', 'robot_type',
default_value='go2', default_value='go1',
description='Type of the robot' description='Type of the robot'
) )
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz") rviz_config_file = os.path.join(get_package_share_directory(package_controller), "config", "visualize_ocs2.rviz")
return LaunchDescription([ return LaunchDescription([
robot_type_arg, robot_type_arg,

8
descriptions/go2_description/launch/ocs2_control.launch.py
View File

@ -11,7 +11,7 @@ from launch_ros.substitutions import FindPackageShare
from sympy.physics.vector.printing import params from sympy.physics.vector.printing import params
package_description = "go2_description" package_description = "go2_description"
package_controller = "ocs2_quadruped_controller"
def process_xacro(context): def process_xacro(context):
robot_type_value = context.launch_configurations['robot_type'] robot_type_value = context.launch_configurations['robot_type']
@ -75,7 +75,7 @@ def launch_setup(context, *args, **kwargs):
"--controller-manager", "/controller_manager"], "--controller-manager", "/controller_manager"],
) )
unitree_guide_controller = Node( ocs2_controller = Node(
package="controller_manager", package="controller_manager",
executable="spawner", executable="spawner",
arguments=["ocs2_quadruped_controller", "--controller-manager", "/controller_manager"] arguments=["ocs2_quadruped_controller", "--controller-manager", "/controller_manager"]
@ -94,7 +94,7 @@ def launch_setup(context, *args, **kwargs):
RegisterEventHandler( RegisterEventHandler(
event_handler=OnProcessExit( event_handler=OnProcessExit(
target_action=imu_sensor_broadcaster, target_action=imu_sensor_broadcaster,
on_exit=[unitree_guide_controller], on_exit=[ocs2_controller],
) )
), ),
] ]
@ -107,7 +107,7 @@ def generate_launch_description():
description='Type of the robot' description='Type of the robot'
) )
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz") rviz_config_file = os.path.join(get_package_share_directory(package_controller), "config", "visualize_ocs2.rviz")
return LaunchDescription([ return LaunchDescription([
robot_type_arg, robot_type_arg,