EmbodiedAI
/
quadruped_ros2_control
mirror of https://github.com/legubiao/quadruped_ros2_control.git
3
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

fix for leg pd controller under ubuntu 24

This commit is contained in:
Huang Zhenbiao 2024-10-28 10:55:35 +08:00
parent 514958edb9
commit 1a5baa354d
5 changed files with 10 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

BIN
.images/gazebo.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 395 KiB

BIN
.images/gazebo_classic.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 367 KiB

After

Width:  |  Height:  |  Size: 329 KiB

BIN
.images/mujoco.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 535 KiB

12
README.md
View File

@ -34,18 +34,23 @@ Video for OCS2 Quadruped Controller:
``` ```
* Compile the package * Compile the package
```bash ```bash
colcon build --packages-up-to unitree_guide_controller go2_description keyboard_input hardware_unitree_mujoco colcon build --packages-up-to unitree_guide_controller go2_description keyboard_input
``` ```
### 1.1 Mujoco Simulator ### 1.1 Mujoco Simulator
Please use this [Mujoco Simulation](https://github.com/legubiao/unitree_mujoco) for more robot models and contact Please use **C++ Simulation** in this [Mujoco Simulation](https://github.com/legubiao/unitree_mujoco) for more robot models and contact
sensor. sensor.
> **Warning:** CycloneDDS ROS2 RMW may conflict with unitree_sdk2. If you cannot launch unitree mujoco simulation > **Warning:** CycloneDDS ROS2 RMW may conflict with unitree_sdk2. If you cannot launch unitree mujoco simulation
> without `sudo`, then you cannot used `unitree_mujoco_hardware`. You can switch to gazebo, or try to solve the conflict > without `sudo`, then you cannot used `unitree_mujoco_hardware`. You can switch to gazebo, or try to solve the conflict
> by uninstall CycloneDDS ROS2 RMW. > by uninstall CycloneDDS ROS2 RMW.
* Compile Unitree Hardware Interfaces
```bash
cd ~/ros2_ws
colcon build --packages-up-to hardware_unitree_mujoco
```
* Launch the unitree mujoco go2 simulation * Launch the unitree mujoco go2 simulation
* Launch the ros2-control * Launch the ros2-control
```bash ```bash
@ -58,6 +63,8 @@ sensor.
ros2 run keyboard_input keyboard_input ros2 run keyboard_input keyboard_input
``` ```
![mujoco](.images/mujoco.png)
### 1.2 Gazebo Classic Simulator (ROS2 Humble) ### 1.2 Gazebo Classic Simulator (ROS2 Humble)
* Install Gazebo Classic * Install Gazebo Classic
```bash ```bash
@ -102,6 +109,7 @@ sensor.
source ~/ros2_ws/install/setup.bash source ~/ros2_ws/install/setup.bash
ros2 run keyboard_input keyboard_input ros2 run keyboard_input keyboard_input
``` ```
![gazebo](.images/gazebo.png)
For more details, please refer to the [unitree guide controller](controllers/unitree_guide_controller/) For more details, please refer to the [unitree guide controller](controllers/unitree_guide_controller/)
and [go2 description](descriptions/unitree/go2_description/). and [go2 description](descriptions/unitree/go2_description/).

2
controllers/leg_pd_controller/src/LegPdController.cpp
View File

@ -53,9 +53,7 @@ namespace leg_pd_controller {
controller_interface::CallbackReturn LegPdController::on_configure( controller_interface::CallbackReturn LegPdController::on_configure(
const rclcpp_lifecycle::State & /*previous_state*/) { const rclcpp_lifecycle::State & /*previous_state*/) {
#ifdef ROS2_CONTROL_VERSION_LT_3
reference_interfaces_.resize(joint_names_.size() * 5, std::numeric_limits<double>::quiet_NaN()); reference_interfaces_.resize(joint_names_.size() * 5, std::numeric_limits<double>::quiet_NaN());
#endif
return CallbackReturn::SUCCESS; return CallbackReturn::SUCCESS;
} }