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Zhenbiao Huang 2024-09-09 22:18:19 +08:00
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.gitignore vendored Normal file
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.vscode

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controllers/quadruped_ros2_control/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(quadruped_ros2_control)
if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif ()
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
set(CONTROLLER_INCLUDE_DEPENDS
pluginlib
rcpputils
controller_interface
realtime_tools
std_msgs
)
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(controller_manager 4.0.0)
foreach (Dependency IN ITEMS ${CONTROLLER_INCLUDE_DEPENDS})
find_package(${Dependency} REQUIRED)
endforeach ()
add_library(${PROJECT_NAME} SHARED
src/QuadrupedController.cpp
src/FSM/FSMState.cpp
src/FSM/StatePassive.cpp
)
target_include_directories(${PROJECT_NAME}
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
ament_target_dependencies(
${PROJECT_NAME} PUBLIC
${CONTROLLER_INCLUDE_DEPENDS}
)
pluginlib_export_plugin_description_file(controller_interface quadruped_ros2_control.xml)
install(
DIRECTORY include/
DESTINATION include/${PROJECT_NAME}
)
install(
TARGETS ${PROJECT_NAME}
EXPORT export_${PROJECT_NAME}
ARCHIVE DESTINATION lib/${PROJECT_NAME}
LIBRARY DESTINATION lib/${PROJECT_NAME}
RUNTIME DESTINATION bin
)
install(
DIRECTORY launch config
DESTINATION share/${PROJECT_NAME}/
)
ament_export_dependencies(${CONTROLLER_INCLUDE_DEPENDS})
ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
if (BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif ()
ament_package()

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controllers/quadruped_ros2_control/LICENSE Normal file
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quadruped_controller:
ros__parameters:
type: quadruped_ros2_control/QuadrupedController
joints:
- RF_HAA
- LF_HAA
- RH_HAA
- LH_HAA
- RF_HFE
- LF_HFE
- RH_HFE
- LH_HFE
- RF_KFE
- LF_KFE
- RH_KFE
- LH_KFE
command_interfaces:
- effort
state_interfaces:
- effort
- position
- velocity

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controllers/quadruped_ros2_control/include/quadruped_ros2_control/FSM/FSMState.h Normal file
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//
// Created by tlab-uav on 24-9-6.
//
#ifndef FSMSTATE_H
#define FSMSTATE_H
#include <string>
#include "quadruped_ros2_control/common/enumClass.h"
class FSMState {
public:
virtual ~FSMState() = default;
FSMState(FSMStateName stateName, std::string stateNameString);
virtual void enter();
virtual void run();
virtual void exit();
virtual FSMStateName checkChange() { return FSMStateName::INVALID; }
FSMStateName state_name;
std::string state_name_string;
};
#endif //FSMSTATE_H

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controllers/quadruped_ros2_control/include/quadruped_ros2_control/FSM/StatePassive.h Normal file
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//
// Created by tlab-uav on 24-9-6.
//
#ifndef STATEPASSIVE_H
#define STATEPASSIVE_H
#include "FSMState.h"
class StatePassive final : public FSMState {
public:
explicit StatePassive();
void enter() override;
void run() override;
void exit() override;
FSMStateName checkChange() override;
};
#endif //STATEPASSIVE_H

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controllers/quadruped_ros2_control/include/quadruped_ros2_control/QuadrupedController.h Normal file
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//
// Created by tlab-uav on 24-9-6.
//
#ifndef QUADRUPEDCONTROLLER_H
#define QUADRUPEDCONTROLLER_H
#include "controller_interface/controller_interface.hpp"
#include <std_msgs/msg/string.hpp>
namespace quadruped_ros2_control {
class QuadrupedController final : public controller_interface::ControllerInterface {
public:
CONTROLLER_INTERFACE_PUBLIC
QuadrupedController() = default;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::InterfaceConfiguration command_interface_configuration() const override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::InterfaceConfiguration state_interface_configuration() const override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::return_type update(
const rclcpp::Time &time, const rclcpp::Duration &period) override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_init() override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_configure(
const rclcpp_lifecycle::State &previous_state) override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_activate(
const rclcpp_lifecycle::State &previous_state) override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_deactivate(
const rclcpp_lifecycle::State &previous_state) override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_cleanup(
const rclcpp_lifecycle::State &previous_state) override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_error(
const rclcpp_lifecycle::State &previous_state) override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_shutdown(
const rclcpp_lifecycle::State &previous_state) override;
protected:
std::vector<std::string> joint_names_;
std::vector<std::string> command_interface_types_;
std::vector<std::string> state_interface_types_;
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr state_command_subscriber_;
std::vector<std::reference_wrapper<hardware_interface::LoanedCommandInterface> >
joint_effort_command_interface_;
std::vector<std::reference_wrapper<hardware_interface::LoanedStateInterface> >
joint_effort_state_interface_;
std::vector<std::reference_wrapper<hardware_interface::LoanedStateInterface> >
joint_position_state_interface_;
std::vector<std::reference_wrapper<hardware_interface::LoanedStateInterface> >
joint_velocity_state_interface_;
std::unordered_map<
std::string, std::vector<std::reference_wrapper<hardware_interface::LoanedCommandInterface> > *>
command_interface_map_ = {
{"effort", &joint_effort_command_interface_}
};
bool stand_ = false;
std::unordered_map<
std::string, std::vector<std::reference_wrapper<hardware_interface::LoanedStateInterface> > *>
state_interface_map_ = {
{"position", &joint_position_state_interface_},
{"effort", &joint_effort_state_interface_},
{"velocity", &joint_velocity_state_interface_}
};
};
}
#endif //QUADRUPEDCONTROLLER_H

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controllers/quadruped_ros2_control/include/quadruped_ros2_control/common/enumClass.h Normal file
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//
// Created by tlab-uav on 24-9-6.
//
#ifndef ENUMCLASS_H
#define ENUMCLASS_H
enum class FSMStateName {
// EXIT,
INVALID,
PASSIVE,
FIXEDSTAND,
FREESTAND,
TROTTING,
SWINGTEST,
BALANCETEST,
};
#endif //ENUMCLASS_H

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controllers/quadruped_ros2_control/launch/controller.launch.py Normal file
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# Copyright 2023 ros2_control Development Team
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from launch import LaunchDescription
from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
def generate_launch_description():
robot_controllers = PathJoinSubstitution(
[
FindPackageShare("quadruped_ros2_control"),
"config",
"quadruped_controller.yaml",
]
)
robot_controller_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["quadruped_controller", "--param-file", robot_controllers],
)
nodes = [
robot_controller_spawner,
]
return LaunchDescription(nodes)

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controllers/quadruped_ros2_control/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>quadruped_ros2_control</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="biao876990970@hotmail.com">tlab-uav</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>backward_ros</depend>
<depend>controller_interface</depend>
<depend>pluginlib</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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controllers/quadruped_ros2_control/quadruped_ros2_control.xml Normal file
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<library path="quadruped_ros2_control">
<class name="quadruped_ros2_control/QuadrupedController" type="quadruped_ros2_control::QuadrupedController"
base_class_type="controller_interface::ControllerInterface">
<description>
Basic Quadruped Controller based on Unitree Guide.
</description>
</class>
</library>

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controllers/quadruped_ros2_control/src/FSM/FSMState.cpp Normal file
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//
// Created by tlab-uav on 24-9-6.
//
#include <quadruped_ros2_control/FSM/FSMState.h>
#include <utility>
FSMState::FSMState(const FSMStateName stateName, std::string stateNameString)
: state_name(stateName), state_name_string(std::move(stateNameString)) {
}

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controllers/quadruped_ros2_control/src/FSM/StatePassive.cpp Normal file
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//
// Created by tlab-uav on 24-9-6.
//
#include <quadruped_ros2_control/FSM/StatePassive.h>
StatePassive::StatePassive() : FSMState(FSMStateName::PASSIVE, "passive") {
}
void StatePassive::enter() {
}

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controllers/quadruped_ros2_control/src/QuadrupedController.cpp Normal file
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//
// Created by tlab-uav on 24-9-6.
//
#include <quadruped_ros2_control/QuadrupedController.h>
namespace quadruped_ros2_control {
using config_type = controller_interface::interface_configuration_type;
controller_interface::InterfaceConfiguration QuadrupedController::command_interface_configuration() const {
controller_interface::InterfaceConfiguration conf = {config_type::INDIVIDUAL, {}};
conf.names.reserve(joint_names_.size() * command_interface_types_.size());
for (const auto &joint_name: joint_names_) {
for (const auto &interface_type: command_interface_types_) {
conf.names.push_back(joint_name + "/" += interface_type);
}
}
return conf;
}
controller_interface::InterfaceConfiguration QuadrupedController::state_interface_configuration() const {
controller_interface::InterfaceConfiguration conf = {config_type::INDIVIDUAL, {}};
conf.names.reserve(joint_names_.size() * state_interface_types_.size());
for (const auto &joint_name: joint_names_) {
for (const auto &interface_type: state_interface_types_) {
conf.names.push_back(joint_name + "/" += interface_type);
}
}
return conf;
}
controller_interface::return_type QuadrupedController::
update(const rclcpp::Time &time, const rclcpp::Duration &period) {
if (stand_) {
for (auto i: joint_effort_command_interface_) {
i.get().set_value(30);
}
} else {
for (auto i: joint_effort_command_interface_) {
i.get().set_value(0);
}
}
return controller_interface::return_type::OK;
}
controller_interface::CallbackReturn QuadrupedController::on_init() {
try {
joint_names_ = auto_declare<std::vector<std::string> >("joints", joint_names_);
command_interface_types_ =
auto_declare<std::vector<std::string> >("command_interfaces", command_interface_types_);
state_interface_types_ =
auto_declare<std::vector<std::string> >("state_interfaces", state_interface_types_);
// Initialize variables and pointers
} catch (const std::exception &e) {
fprintf(stderr, "Exception thrown during init stage with message: %s \n", e.what());
return controller_interface::CallbackReturn::ERROR;
}
return CallbackReturn::SUCCESS;
}
controller_interface::CallbackReturn QuadrupedController::on_configure(
const rclcpp_lifecycle::State &previous_state) {
stand_ = false;
state_command_subscriber_ = get_node()->create_subscription<std_msgs::msg::String>(
"state_command", 10, [this](const std_msgs::msg::String::SharedPtr msg) {
// Handle message
RCLCPP_INFO(get_node()->get_logger(), "Received command: %s", msg->data.c_str());
if (msg.get()->data == "stand") {
stand_ = true;
} else {
stand_ = false;
}
});
return CallbackReturn::SUCCESS;
}
controller_interface::CallbackReturn
QuadrupedController::on_activate(const rclcpp_lifecycle::State &previous_state) {
// clear out vectors in case of restart
joint_effort_command_interface_.clear();
joint_effort_state_interface_.clear();
joint_position_state_interface_.clear();
joint_velocity_state_interface_.clear();
// assign command interfaces
for (auto &interface: command_interfaces_) {
command_interface_map_[interface.get_interface_name()]->push_back(interface);
}
// assign state interfaces
for (auto &interface: state_interfaces_) {
state_interface_map_[interface.get_interface_name()]->push_back(interface);
}
return CallbackReturn::SUCCESS;
}
controller_interface::CallbackReturn QuadrupedController::on_deactivate(
const rclcpp_lifecycle::State &previous_state) {
release_interfaces();
return CallbackReturn::SUCCESS;
}
controller_interface::CallbackReturn
QuadrupedController::on_cleanup(const rclcpp_lifecycle::State &previous_state) {
return CallbackReturn::SUCCESS;
}
controller_interface::CallbackReturn QuadrupedController::on_error(const rclcpp_lifecycle::State &previous_state) {
return CallbackReturn::SUCCESS;
}
controller_interface::CallbackReturn
QuadrupedController::on_shutdown(const rclcpp_lifecycle::State &previous_state) {
return CallbackReturn::SUCCESS;
}
}
#include "pluginlib/class_list_macros.hpp"
PLUGINLIB_EXPORT_CLASS(quadruped_ros2_control::QuadrupedController, controller_interface::ControllerInterface);

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descriptions/go2_description/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(go2_description)
find_package(ament_cmake REQUIRED)
install(
DIRECTORY meshes xacro launch config
DESTINATION share/${PROJECT_NAME}/
)
ament_package()

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descriptions/go2_description/README.md Normal file
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# Unitree Go2 Description
This repository contains the urdf model of go2.
## Build
```bash
cd ~/ros2_ws
colcon build --packages-up-to go2_description
```
## Visualize the robot
To visualize and check the configuration of the robot in rviz, simply launch:
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch go2_description visualize.launch.py
```
## When used for isaac gym or other similiar engine
Collision parameters in urdf can be amended to better train the robot:
Open "go2_description.urdf" in "./go2_description/urdf",
and amend the ` box size="0.213 0.0245 0.034" ` in links of "FL_thigh", "FR_thigh", "RL_thigh", "RR_thigh".
For example, change previous values to ` box size="0.11 0.0245 0.034" ` means the length of the thigh is shortened from 0.213 to 0.11, which can avoid unnecessary collision between the thigh link and the calf link.
The collision model before and after the above amendment are shown as "Normal_collision_model.png" and "Amended_collision_model.png" respectively.

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descriptions/go2_description/config/robot_control.yaml Normal file
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# Controller Manager configuration
controller_manager:
ros__parameters:
update_rate: 1000 # Hz
use_sim_time: true # If running in simulation
# Define the available controllers
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster

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Panels:
- Class: rviz_common/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
Splitter Ratio: 0.5
Tree Height: 542
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz_common/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz_default_plugins/RobotModel
Collision Enabled: false
Description File: ""
Description Source: Topic
Description Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot_description
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
FL_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
RL_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
trunk:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Mass Properties:
Inertia: false
Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: base
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 1.469738483428955
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.0716833621263504
Y: -0.002330765128135681
Z: -0.15908166766166687
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.42039796710014343
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.6653964519500732
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 846
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd000000040000000000000156000002acfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f000002ac000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002acfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f000002ac000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000026f00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002ac00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1200
X: 523
Y: 102

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<launch>
<include
file="$(find gazebo_ros)/launch/empty_world.launch" />
<node
name="tf_footprint_base"
pkg="tf"
type="static_transform_publisher"
args="0 0 0 0 0 0 base_link base_footprint 40" />
<node
name="spawn_model"
pkg="gazebo_ros"
type="spawn_model"
args="-file $(find go2_description)/urdf/go2_description.urdf -urdf -model go2_description"
output="screen" />
<node
name="fake_joint_calibration"
pkg="rostopic"
type="rostopic"
args="pub /calibrated std_msgs/Bool true" />
</launch>

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import os
import xacro
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction, IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
package_description = "go2_description"
def process_xacro(context):
robot_type_value = context.launch_configurations['robot_type']
pkg_path = os.path.join(get_package_share_directory(package_description))
xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
robot_description_config = xacro.process_file(xacro_file, mappings={'robot_type': robot_type_value})
return (robot_description_config.toxml(), robot_type_value)
def launch_setup(context, *args, **kwargs):
(robot_description, robot_type) = process_xacro(context)
robot_controllers = PathJoinSubstitution(
[
FindPackageShare(package_description),
"config",
"robot_control.yaml",
]
)
return [
Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
parameters=[
{
'use_sim_time': True,
'publish_frequency': 100.0,
'use_tf_static': True,
'robot_description': robot_description
}
],
),
Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_controllers],
output="both",
),
Node(
package="controller_manager",
executable="spawner",
arguments=["joint_state_broadcaster",
"--controller-manager", "/controller_manager"],
),
Node(
package="controller_manager",
executable="spawner",
arguments=["imu_sensor_broadcaster",
"--controller-manager", "/controller_manager"],
),
]
def generate_launch_description():
robot_type_arg = DeclareLaunchArgument(
'robot_type',
default_value='go2',
description='Type of the robot'
)
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
return LaunchDescription([
robot_type_arg,
OpaqueFunction(function=launch_setup),
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
)
])

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import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction
from launch_ros.actions import Node
import xacro
package_description = "go2_description"
def process_xacro(context):
robot_type_value = context.launch_configurations['robot_type']
pkg_path = os.path.join(get_package_share_directory(package_description))
xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
robot_description_config = xacro.process_file(xacro_file, mappings={'robot_type': robot_type_value})
return robot_description_config.toxml()
def launch_setup(context, *args, **kwargs):
robot_description = process_xacro(context)
return [
Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
output='screen',
parameters=[
{
'publish_frequency': 100.0,
'use_tf_static': True,
'robot_description': robot_description
}
],
),
Node(
package='joint_state_publisher_gui',
executable='joint_state_publisher_gui',
name='joint_state_publisher',
output='screen',
)
]
def generate_launch_description():
robot_type_arg = DeclareLaunchArgument(
'robot_type',
default_value='go2',
description='Type of the robot'
)
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
return LaunchDescription([
robot_type_arg,
OpaqueFunction(function=launch_setup),
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
)
])

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<package format="2">
<name>go2_description</name>
<version>1.0.0</version>
<description>
<p>URDF Description package for go2_description</p>
<p>This package contains configuration data, 3D models and launch files
for go2_description robot
</p>
</description>
<author>TODO</author>
<maintainer email="TODO@email.com"/>
<license>BSD</license>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>imu_sensor_broadcaster</exec_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Constants for robot dimensions -->
<xacro:property name="PI" value="3.1415926535897931"/>
<xacro:property name="stick_mass" value="0.00001"/>
<!-- simplified collision value -->
<xacro:property name="trunk_width" value="0.0935"/>
<xacro:property name="trunk_length" value="0.3762"/>
<xacro:property name="trunk_height" value="0.114"/>
<xacro:property name="hip_radius" value="0.046"/>
<xacro:property name="hip_length" value="0.04"/>
<xacro:property name="thigh_shoulder_radius" value="0.041"/>
<xacro:property name="thigh_shoulder_length" value="0.032"/>
<xacro:property name="thigh_width" value="0.0245"/>
<xacro:property name="thigh_height" value="0.034"/>
<xacro:property name="calf_width" value="0.016"/>
<xacro:property name="calf_height" value="0.016"/>
<xacro:property name="foot_radius" value="0.02"/>
<xacro:property name="stick_radius" value="0.01"/>
<xacro:property name="stick_length" value="0.2"/>
<!-- kinematic value -->
<xacro:property name="thigh_offset" value="0.0955"/>
<xacro:property name="thigh_length" value="0.213"/>
<xacro:property name="calf_length" value="0.213"/>
<!-- leg offset from trunk center value -->
<xacro:property name="leg_offset_x" value="0.1934"/>
<xacro:property name="leg_offset_y" value="0.0465"/>
<!-- <xacro:property name="trunk_offset_z" value="0.01675"/> -->
<xacro:property name="hip_offset" value="0.0955"/>
<!-- offset of link locations (left front) -->
<xacro:property name="hip_offset_x" value="0.1934"/>
<xacro:property name="hip_offset_y" value="0.0465"/>
<xacro:property name="hip_offset_z" value="0.0"/>
<xacro:property name="thigh_offset_x" value="0"/>
<xacro:property name="thigh_offset_y" value="0.0955"/>
<xacro:property name="thigh_offset_z" value="0.0"/>
<xacro:property name="calf_offset_x" value="0.0"/>
<xacro:property name="calf_offset_y" value="0.0"/>
<xacro:property name="calf_offset_z" value="-0.213"/>
<!-- joint limits -->
<xacro:property name="damping" value="0.0"/>
<xacro:property name="friction" value="0.0"/>
<xacro:property name="hip_position_max" value="1.0472"/>
<xacro:property name="hip_position_min" value="-1.0472"/>
<xacro:property name="hip_velocity_max" value="30.1"/>
<xacro:property name="hip_torque_max" value="23.7"/>
<xacro:property name="thigh_position_max" value="3.4907"/>
<xacro:property name="thigh_position_min" value="-1.5708"/>
<xacro:property name="thigh_velocity_max" value="30.1"/>
<xacro:property name="thigh_torque_max" value="23.7"/>
<xacro:property name="calf_position_max" value="-0.83776"/>
<xacro:property name="calf_position_min" value="-2.7227"/>
<xacro:property name="calf_velocity_max" value="20.06"/>
<xacro:property name="calf_torque_max" value="35.55"/>
<!-- dynamics inertial value -->
<!-- trunk -->
<xacro:property name="trunk_mass" value="6.921"/>
<xacro:property name="trunk_com_x" value="0.021112"/>
<xacro:property name="trunk_com_y" value="0.00"/>
<xacro:property name="trunk_com_z" value="-0.005366"/>
<xacro:property name="trunk_ixx" value="0.02448"/>
<xacro:property name="trunk_ixy" value="0.00012166"/>
<xacro:property name="trunk_ixz" value="0.0014849"/>
<xacro:property name="trunk_iyy" value="0.098077"/>
<xacro:property name="trunk_iyz" value="-3.12E-05"/>
<xacro:property name="trunk_izz" value="0.107"/>
<!-- hip (left front) -->
<xacro:property name="hip_mass" value="0.678"/>
<xacro:property name="hip_com_x" value="-0.0054"/>
<xacro:property name="hip_com_y" value="0.00194"/>
<xacro:property name="hip_com_z" value="-0.000105"/>
<xacro:property name="hip_ixx" value="0.00048"/>
<xacro:property name="hip_ixy" value="-3.01E-06"/>
<xacro:property name="hip_ixz" value="1.11E-06"/>
<xacro:property name="hip_iyy" value="0.000884"/>
<xacro:property name="hip_iyz" value="-1.42E-06"/>
<xacro:property name="hip_izz" value="0.000596"/>
<!-- thigh -->
<xacro:property name="thigh_mass" value="1.152"/>
<xacro:property name="thigh_com_x" value="-0.00374"/>
<xacro:property name="thigh_com_y" value="-0.0223"/>
<xacro:property name="thigh_com_z" value="-0.0327"/>
<xacro:property name="thigh_ixx" value="0.00584"/>
<xacro:property name="thigh_ixy" value="8.72E-05"/>
<xacro:property name="thigh_ixz" value="-0.000289"/>
<xacro:property name="thigh_iyy" value="0.0058"/>
<xacro:property name="thigh_iyz" value="0.000808"/>
<xacro:property name="thigh_izz" value="0.00103"/>
<!-- calf -->
<xacro:property name="calf_mass" value="0.154"/>
<xacro:property name="calf_com_x" value="0.00548"/>
<xacro:property name="calf_com_y" value="-0.000975"/>
<xacro:property name="calf_com_z" value="-0.115"/>
<xacro:property name="calf_ixx" value="0.00108"/>
<xacro:property name="calf_ixy" value="3.4E-07"/>
<xacro:property name="calf_ixz" value="1.72E-05"/>
<xacro:property name="calf_iyy" value="0.0011"/>
<xacro:property name="calf_iyz" value="8.28E-06"/>
<xacro:property name="calf_izz" value="3.29E-05"/>
<!-- foot -->
<xacro:property name="foot_mass" value="0.06"/>
</robot>

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<?xml version="1.0"?>
<robot>
<!-- ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/go2_gazebo</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<!-- Show the trajectory of trunk center. -->
<!--gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>10</frequency>
<plot>
<link>base</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Yellow</material>
</plot>
</plugin>
</gazebo-->
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
<gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>100</frequency>
<plot>
<link>FL_foot</link>
<pose>0 0 0 0 0 0</pose>
</plot>
</plugin>
</gazebo>
<gazebo>
<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
<bodyName>trunk</bodyName>
<topicName>/apply_force/trunk</topicName>
</plugin>
</gazebo>
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>1000</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>trunk_imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>1000.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- Foot contacts. -->
<gazebo reference="FR_calf">
<sensor name="FR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="FL_calf">
<sensor name="FL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RR_calf">
<sensor name="RR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RL_calf">
<sensor name="RL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<!-- Visualization of Foot contacts. -->
<gazebo reference="FR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="FL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="base">
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="trunk">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="stick_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<gazebo reference="imu_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- FL leg -->
<gazebo reference="FL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<gazebo reference="FL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- FR leg -->
<gazebo reference="FR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<gazebo reference="FR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RL leg -->
<gazebo reference="RL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<gazebo reference="RL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RR leg -->
<gazebo reference="RR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<gazebo reference="RR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find go2_description)/xacro/transmission.xacro"/>
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae">
<joint name="${name}_hip_joint" type="revolute">
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
</xacro:if>
<parent link="trunk"/>
<child link="${name}_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<xacro:if value="${(mirror_dae == True)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_position_min}"
upper="${hip_position_max}"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_position_max}"
upper="${-hip_position_min}"/>
</xacro:if>
</joint>
<link name="${name}_hip">
<visual>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<geometry>
<mesh filename="file://$(find go2_description)/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/>
<geometry>
<cylinder length="${hip_length}" radius="${hip_radius}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
<mass value="${hip_mass}"/>
<inertia
ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
izz="${hip_izz}"/>
</inertial>
</link>
<joint name="${name}_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_position_min}"
upper="${thigh_position_max}"/>
</joint>
<link name="${name}_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<xacro:if value="${mirror_dae == True}">
<mesh filename="file://$(find go2_description)/meshes/thigh.dae" scale="1 1 1"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<mesh filename="file://$(find go2_description)/meshes/thigh_mirror.dae" scale="1 1 1"/>
</xacro:if>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
<geometry>
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
<mass value="${thigh_mass}"/>
<inertia
ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
izz="${thigh_izz}"/>
</inertial>
</link>
<joint name="${name}_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
<parent link="${name}_thigh"/>
<child link="${name}_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}"
upper="${calf_position_max}"/>
</joint>
<link name="${name}_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://$(find go2_description)/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
<geometry>
<box size="${calf_length} ${calf_width} ${calf_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
<mass value="${calf_mass}"/>
<inertia
ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
iyy="${calf_iyy}" iyz="${calf_iyz}"
izz="${calf_izz}"/>
</inertial>
</link>
<joint name="${name}_foot_fixed" type="fixed">0
<origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
<parent link="${name}_calf"/>
<child link="${name}_foot"/>
</joint>
<link name="${name}_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius-0.01}"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius}"/>
</geometry>
</collision>
<inertial>
<mass value="${foot_mass}"/>
<inertia
ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
</inertial>
</link>
<xacro:leg_transmission name="${name}"/>
</xacro:macro>
</robot>

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<?xml version="1.0"?>
<robot>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 0.0"/>
</material>
<material name="silver">
<color rgba="${233/255} ${233/255} ${216/255} 1.0"/>
</material>
<material name="orange">
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
</material>
<material name="brown">
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</robot>

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<?xml version="1.0"?>
<robot name="go2" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="DEBUG" default="false"/>
<xacro:include filename="$(find go2_description)/xacro/const.xacro"/>
<xacro:include filename="$(find go2_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find go2_description)/xacro/leg.xacro"/>
<xacro:include filename="$(find go2_description)/xacro/ros2_control.xacro"/>
<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
<!-- Rotor related joint and link is only for demonstrate location. -->
<!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<xacro:if value="$(arg DEBUG)">
<link name="world"/>
<joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base"/>
</joint>
</xacro:if>
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://$(find go2_description)/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
<mass value="${trunk_mass}"/>
<inertia
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
iyy="${trunk_iyy}" iyz="${trunk_iyz}"
izz="${trunk_izz}"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<!-- <material name="red"/> -->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link>
<!--
<joint name="load_joint" type="fixed">
<parent link="trunk"/>
<child link="load_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="load_link">
<inertial>
<mass value="5"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.2"/>
<geometry>
<box size="0.5 0.3 0.2"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link>
-->
<xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1" front_hind_dae="True" />
<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True" />
<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False" />
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False" />
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<ros2_control name="UnitreeSystem" type="system">
<hardware>
<plugin>hardware_unitree_mujoco/HardwareUnitree</plugin>
</hardware>
<joint name="FR_hip_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FR_thigh_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FR_calf_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_hip_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_thigh_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_calf_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_hip_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_thigh_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_calf_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_hip_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_thigh_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_calf_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
</ros2_control>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="leg_transmission" params="name">
<transmission name="${name}_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${name}_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${name}_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>

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descriptions/quadruped_gazebo/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(quadruped_gazebo)
find_package(ament_cmake REQUIRED)
install(
DIRECTORY meshes urdf launch config
DESTINATION share/${PROJECT_NAME}/
)
ament_package()

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Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
and distribution as defined by Sections 1 through 9 of this document.
"Licensor" shall mean the copyright owner or entity authorized by
the copyright owner that is granting the License.
"Legal Entity" shall mean the union of the acting entity and all
other entities that control, are controlled by, or are under common
control with that entity. For the purposes of this definition,
"control" means (i) the power, direct or indirect, to cause the
direction or management of such entity, whether by contract or
otherwise, or (ii) ownership of fifty percent (50%) or more of the
outstanding shares, or (iii) beneficial ownership of such entity.
"You" (or "Your") shall mean an individual or Legal Entity
exercising permissions granted by this License.
"Source" form shall mean the preferred form for making modifications,
including but not limited to software source code, documentation
source, and configuration files.
"Object" form shall mean any form resulting from mechanical
transformation or translation of a Source form, including but
not limited to compiled object code, generated documentation,
and conversions to other media types.
"Work" shall mean the work of authorship, whether in Source or
Object form, made available under the License, as indicated by a
copyright notice that is included in or attached to the work
(an example is provided in the Appendix below).
"Derivative Works" shall mean any work, whether in Source or Object
form, that is based on (or derived from) the Work and for which the
editorial revisions, annotations, elaborations, or other modifications
represent, as a whole, an original work of authorship. For the purposes
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# Controller Manager configuration
controller_manager:
ros__parameters:
update_rate: 1000 # Hz
use_sim_time: true # If running in simulation
# Define the available controllers
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
imu_sensor_broadcaster:
type: imu_sensor_broadcaster/IMUSensorBroadcaster
imu_sensor_broadcaster:
ros__parameters:
sensor_name: "imu_sensor"
frame_id: "imu_sensor"

252
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Panels:
- Class: rviz_common/Displays
Help Height: 138
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Grid1
- /RobotModel1
- /RobotModel1/Description Topic1
Splitter Ratio: 0.5
Tree Height: 543
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz_common/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz_default_plugins/RobotModel
Collision Enabled: false
Description File: ""
Description Source: Topic
Description Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot_description
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
LF_FOOT:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_FOOT:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
RF_FOOT:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_FOOT:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_imu:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Mass Properties:
Inertia: false
Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: base
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 0.8259328603744507
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.1556335836648941
Y: 0.05531633272767067
Z: -0.12701848149299622
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.3203984200954437
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.7753980159759521
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1061
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001f40000031bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007300000000700000031b0000018600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015d0000031bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000700000031b0000013800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000065a0000005efc0100000002fb0000000800540069006d006501000000000000065a0000047a00fffffffb0000000800540069006d006501000000000000045000000000000000000000065a0000031b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1626
X: 787
Y: 356

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import os
import xacro
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction, IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
package_description = "quadruped_gazebo"
def process_xacro(context):
robot_type_value = context.launch_configurations['robot_type']
pkg_path = os.path.join(get_package_share_directory(package_description))
xacro_file = os.path.join(pkg_path, 'urdf', 'robot.xacro')
robot_description_config = xacro.process_file(xacro_file, mappings={'robot_type': robot_type_value})
return (robot_description_config.toxml(), robot_type_value)
def launch_setup(context, *args, **kwargs):
(robot_description, robot_type) = process_xacro(context)
gz_spawn_entity = Node(
package='ros_gz_sim',
executable='create',
output='screen',
arguments=['-topic', 'robot_description', '-name',
robot_type, '-allow_renaming', 'true', '-z', '0.5'],
)
return [
Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
parameters=[
{
'use_sim_time': True,
'publish_frequency': 100.0,
'use_tf_static': True,
'robot_description': robot_description
}
],
),
Node(
package="controller_manager",
executable="spawner",
arguments=["joint_state_broadcaster",
"--controller-manager", "/controller_manager"],
),
Node(
package="controller_manager",
executable="spawner",
arguments=["imu_sensor_broadcaster",
"--controller-manager", "/controller_manager"],
),
gz_spawn_entity,
]
def generate_launch_description():
robot_type_arg = DeclareLaunchArgument(
'robot_type',
default_value='a1',
description='Type of the robot'
)
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
return LaunchDescription([
robot_type_arg,
Node(
package='ros_gz_bridge',
executable='parameter_bridge',
arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
output='screen'
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
'launch',
'gz_sim.launch.py'])]),
launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]),
OpaqueFunction(function=launch_setup),
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
)
])

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import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction
from launch_ros.actions import Node
import xacro
package_description = "quadruped_gazebo"
def process_xacro(context):
robot_type_value = context.launch_configurations['robot_type']
pkg_path = os.path.join(get_package_share_directory(package_description))
xacro_file = os.path.join(pkg_path, 'urdf', 'robot.xacro')
robot_description_config = xacro.process_file(xacro_file, mappings={'robot_type': robot_type_value})
return robot_description_config.toxml()
def launch_setup(context, *args, **kwargs):
robot_description = process_xacro(context)
return [
Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
output='screen',
parameters=[
{
'publish_frequency': 100.0,
'use_tf_static': True,
'robot_description': robot_description
}
],
),
Node(
package='joint_state_publisher_gui',
executable='joint_state_publisher_gui',
name='joint_state_publisher',
output='screen',
)
]
def generate_launch_description():
robot_type_arg = DeclareLaunchArgument(
'robot_type',
default_value='a1',
description='Type of the robot'
)
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
return LaunchDescription([
robot_type_arg,
OpaqueFunction(function=launch_setup),
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
)
])

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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>quadruped_gazebo</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="biao876990970@hotmail.com">tlab-uav</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>imu_sensor_broadcaster</exec_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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# Quadruped Gazebo
This package contains the description of the legged robot from Unitree Robotics, and the launch file to load them into the gazebo empty world.
## Build
```bash
cd ~/ros2_ws
colcon build --packages-up-to quadruped_gazebo
```
## Visualize the robot
To visualize and check the configuration of the robot in rviz, simply launch:
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch quadruped_gazebo visualize.launch.py
```
The default model is a1. To use another robot model, add the following argument:
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch quadruped_gazebo visualize.launch.py robot_type:=go1
```
## Launch the robot in gazebo
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch quadruped_gazebo gazebo.launch.py
```
To use another robot model, add the following argument:
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch quadruped_gazebo gazebo.launch.py robot_type:=go1
```

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="a1_description">
<!-- Constants for robot dimensions -->
<xacro:property name="stick_mass" value="0.00001"/>
<!-- simplified collision value -->
<xacro:property name="trunk_width" value="0.194"/>
<xacro:property name="trunk_length" value="0.267"/>
<xacro:property name="trunk_height" value="0.114"/>
<xacro:property name="hip_radius" value="0.046"/>
<xacro:property name="hip_length" value="0.04"/>
<xacro:property name="thigh_shoulder_radius" value="0.041"/>
<xacro:property name="thigh_shoulder_length" value="0.04"/>
<xacro:property name="thigh_shoulder_y_offset" value="-0.008"/>
<xacro:property name="thigh_width" value="0.03"/>
<xacro:property name="thigh_height" value="0.034"/>
<xacro:property name="thigh_x_offset" value="-0.015"/>
<xacro:property name="calf_width" value="0.016"/>
<xacro:property name="calf_height" value="0.016"/>
<xacro:property name="calf_x_offset" value="0.0"/>
<xacro:property name="foot_radius" value="0.02"/>
<!-- kinematic value -->
<xacro:property name="thigh_offset" value="0.0838"/>
<xacro:property name="thigh_length" value="0.2"/>
<xacro:property name="calf_length" value="0.2"/>
<!-- leg offset from trunk center value -->
<xacro:property name="leg_offset_x" value="0.1805"/>
<xacro:property name="leg_offset_y" value="0.047"/>
<xacro:property name="trunk_offset_z" value="0.01675"/>
<xacro:property name="hip_offset" value="0.065"/>
<!-- joint limits -->
<xacro:property name="damping" value="0"/>
<xacro:property name="friction" value="0"/>
<xacro:property name="hip_position_max" value="${46*pi/180.0}"/>
<xacro:property name="hip_position_min" value="${-46*pi/180.0}"/>
<xacro:property name="hip_velocity_max" value="21"/>
<xacro:property name="hip_torque_max" value="33.5"/>
<xacro:property name="thigh_position_max" value="${240*pi/180.0}"/>
<xacro:property name="thigh_position_min" value="${-60*pi/180.0}"/>
<xacro:property name="thigh_velocity_max" value="21"/>
<xacro:property name="thigh_torque_max" value="33.5"/>
<xacro:property name="calf_position_max" value="${-52.5*pi/180.0}"/>
<xacro:property name="calf_position_min" value="${-154.5*pi/180.0}"/>
<xacro:property name="calf_velocity_max" value="21"/>
<xacro:property name="calf_torque_max" value="33.5"/>
<!-- dynamics inertial value -->
<!-- trunk -->
<xacro:property name="trunk_mass" value="6.0"/>
<xacro:property name="trunk_com_x" value="0.0000"/>
<xacro:property name="trunk_com_y" value="0.0041"/>
<xacro:property name="trunk_com_z" value="-0.0005"/>
<xacro:property name="trunk_ixx" value="0.0158533"/>
<xacro:property name="trunk_ixy" value="-0.0000366"/>
<xacro:property name="trunk_ixz" value="-0.0000611"/>
<xacro:property name="trunk_iyy" value="0.0377999"/>
<xacro:property name="trunk_iyz" value="-0.0000275"/>
<xacro:property name="trunk_izz" value="0.0456542"/>
<!-- hip (left front) -->
<xacro:property name="hip_mass" value="0.595"/>
<xacro:property name="hip_com_x" value="-0.003875"/>
<xacro:property name="hip_com_y" value="0.001622"/>
<xacro:property name="hip_com_z" value="0.000042"/>
<xacro:property name="hip_ixx" value="0.000402747"/>
<xacro:property name="hip_ixy" value="-0.000008709"/>
<xacro:property name="hip_ixz" value="-0.000000297"/>
<xacro:property name="hip_iyy" value="0.000691123"/>
<xacro:property name="hip_iyz" value="-0.000000545"/>
<xacro:property name="hip_izz" value="0.000487919"/>
<!-- thigh -->
<xacro:property name="thigh_mass" value="0.888"/>
<xacro:property name="thigh_com_x" value="-0.003574"/>
<xacro:property name="thigh_com_y" value="-0.019529"/>
<xacro:property name="thigh_com_z" value="-0.030323"/>
<xacro:property name="thigh_ixx" value="0.005251806"/>
<xacro:property name="thigh_ixy" value="-0.000002168"/>
<xacro:property name="thigh_ixz" value="0.000346889"/>
<xacro:property name="thigh_iyy" value="0.005000475"/>
<xacro:property name="thigh_iyz" value="-0.000028174"/>
<xacro:property name="thigh_izz" value="0.001110200"/>
<!-- calf -->
<xacro:property name="calf_mass" value="0.151"/>
<xacro:property name="calf_com_x" value="0.007105"/>
<xacro:property name="calf_com_y" value="-0.000239"/>
<xacro:property name="calf_com_z" value="-0.096933"/>
<xacro:property name="calf_ixx" value="0.002344758"/>
<xacro:property name="calf_ixy" value="0.0"/>
<xacro:property name="calf_ixz" value="-0.000141275"/>
<xacro:property name="calf_iyy" value="0.002360755"/>
<xacro:property name="calf_iyz" value="0.0"/>
<xacro:property name="calf_izz" value="0.000031158"/>
<!-- foot -->
<xacro:property name="foot_mass" value="0.06"/>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="aliengo_description">
<!-- Constants for robot dimensions -->
<xacro:property name="stick_mass" value="0.00001"/>
<!-- simplified collision value -->
<xacro:property name="trunk_width" value="0.150"/>
<xacro:property name="trunk_length" value="0.647"/>
<xacro:property name="trunk_height" value="0.112"/>
<xacro:property name="hip_radius" value="0.046"/>
<xacro:property name="hip_length" value="0.0418"/>
<xacro:property name="thigh_shoulder_radius" value="0.044"/>
<xacro:property name="thigh_shoulder_length" value="0.03"/>
<xacro:property name="thigh_shoulder_y_offset" value="0.0"/>
<xacro:property name="thigh_width" value="0.0374"/>
<xacro:property name="thigh_height" value="0.043"/>
<xacro:property name="thigh_x_offset" value="-0.015"/>
<xacro:property name="calf_width" value="0.04"/>
<xacro:property name="calf_height" value="0.03"/>
<xacro:property name="calf_x_offset" value="0.008"/>
<xacro:property name="foot_radius" value="0.0265"/>
<!-- kinematic value -->
<xacro:property name="thigh_offset" value="0.0868"/>
<xacro:property name="thigh_length" value="0.25"/>
<xacro:property name="calf_length" value="0.25"/>
<!-- leg offset from trunk center value -->
<xacro:property name="leg_offset_x" value="0.2407"/>
<xacro:property name="leg_offset_y" value="0.051"/>
<xacro:property name="trunk_offset_z" value="0.01675"/>
<xacro:property name="hip_offset" value="0.083"/>
<!-- joint limits -->
<xacro:property name="damping" value="0.05"/>
<xacro:property name="friction" value="0.01"/>
<xacro:property name="hip_position_max" value="${70*pi/180.0}"/>
<xacro:property name="hip_position_min" value="${-70*pi/180.0}"/>
<xacro:property name="hip_velocity_max" value="20"/>
<xacro:property name="hip_torque_max" value="35.278"/>
<xacro:property name="thigh_position_max" value="1e22"/>
<xacro:property name="thigh_position_min" value="-1e22"/>
<xacro:property name="thigh_velocity_max" value="20"/>
<xacro:property name="thigh_torque_max" value="35.278"/>
<xacro:property name="calf_position_max" value="${-37*pi/180.0}"/>
<xacro:property name="calf_position_min" value="${-159*pi/180.0}"/>
<xacro:property name="calf_velocity_max" value="15.89"/>
<xacro:property name="calf_torque_max" value="44.4"/>
<!-- dynamics inertial value total 22.0kg-->
<!-- trunk -->
<xacro:property name="trunk_mass" value="11.041"/>
<xacro:property name="trunk_com_x" value="0.008465"/>
<xacro:property name="trunk_com_y" value="0.004045"/>
<xacro:property name="trunk_com_z" value="-0.000763"/>
<xacro:property name="trunk_ixx" value="0.050874"/>
<xacro:property name="trunk_ixy" value="-0.000451628"/>
<xacro:property name="trunk_ixz" value="0.000487603"/>
<xacro:property name="trunk_iyy" value="0.64036"/>
<xacro:property name="trunk_iyz" value="0.000048356"/>
<xacro:property name="trunk_izz" value="0.65655"/>
<!-- hip (left front) -->
<xacro:property name="hip_mass" value="1.993"/>
<xacro:property name="hip_com_x" value="-0.022191"/>
<xacro:property name="hip_com_y" value="0.015144"/>
<xacro:property name="hip_com_z" value="-0.000015"/>
<xacro:property name="hip_ixx" value="0.002903894"/>
<xacro:property name="hip_ixy" value="-0.000071850"/>
<xacro:property name="hip_ixz" value="-0.000001262"/>
<xacro:property name="hip_iyy" value="0.004907517"/>
<xacro:property name="hip_iyz" value="-0.00000175"/>
<xacro:property name="hip_izz" value="0.005586944"/>
<!-- thigh -->
<xacro:property name="thigh_mass" value="0.639"/>
<xacro:property name="thigh_com_x" value="-0.005607"/>
<xacro:property name="thigh_com_y" value="-0.003877"/>
<xacro:property name="thigh_com_z" value="-0.048199"/>
<xacro:property name="thigh_ixx" value="0.005666803"/>
<xacro:property name="thigh_ixy" value="0.000003597"/>
<xacro:property name="thigh_ixz" value="0.000491446"/>
<xacro:property name="thigh_iyy" value="0.005847229"/>
<xacro:property name="thigh_iyz" value="0.000010086"/>
<xacro:property name="thigh_izz" value="0.000369811"/>
<!-- calf -->
<xacro:property name="calf_mass" value="0.207"/>
<xacro:property name="calf_com_x" value="0.002781"/>
<xacro:property name="calf_com_y" value="0.000063"/>
<xacro:property name="calf_com_z" value="-0.142518"/>
<xacro:property name="calf_ixx" value="0.006341369"/>
<xacro:property name="calf_ixy" value="-0.000000003"/>
<xacro:property name="calf_ixz" value="-0.000087951"/>
<xacro:property name="calf_iyy" value="0.006355157"/>
<xacro:property name="calf_iyz" value="-0.000001336"/>
<xacro:property name="calf_izz" value="0.000039188"/>
<!-- foot -->
<xacro:property name="foot_mass" value="0.06"/>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="imu">
<xacro:macro name="IMU" params="connected_to imu_name xyz:='0 0 0' rpy:='0 0 0' ">
<!-- Imu is fixed to the base link -->
<joint name="${imu_name}_joint" type="fixed">
<origin xyz="${xyz}" rpy="${rpy}"/>
<parent link="${connected_to}"/>
<child link="${imu_name}"/>
</joint>
<!-- Imu link -->
<link name="${imu_name}">
<inertial>
<mass value="0.01"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.015 0.015 0.004"/>
</geometry>
</visual>
<material name="orange">
<color rgba="255 108 10 255"/>
</material>
</link>
<gazebo reference="${imu_name}">
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>200</update_rate>
<visualize>true</visualize>
<topic>imu</topic>
<imu>
<angular_velocity>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</z>
</angular_velocity>
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</z>
</linear_acceleration>
</imu>
</sensor>
</gazebo>
<gazebo reference="${imu_name}_joint">
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
</xacro:macro>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find quadruped_gazebo)/urdf/common/transmission.xacro"/>
<xacro:macro name="leg" params="prefix mesh_path mirror mirror_dae front_hind front_hind_dae *origin">
<joint name="${prefix}_HAA" type="revolute">
<xacro:insert_block name="origin"/>
<parent link="base"/>
<child link="${prefix}_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<xacro:if value="${(mirror_dae == True)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_position_min}"
upper="${hip_position_max}"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_position_max}"
upper="${-hip_position_min}"/>
</xacro:if>
</joint>
<link name="${prefix}_hip">
<visual>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="${pi} 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 ${pi} 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="${pi} ${pi} 0" xyz="0 0 0"/>
</xacro:if>
<geometry>
<mesh filename="${mesh_path}/hip.dae"
scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="${pi/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="${hip_length}" radius="${hip_radius}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
<mass value="${hip_mass}"/>
<inertia
ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
izz="${hip_izz}"/>
</inertial>
</link>
<joint name="${prefix}_HFE" type="revolute">
<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
<parent link="${prefix}_hip"/>
<child link="${prefix}_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_position_min}"
upper="${thigh_position_max}"/>
</joint>
<link name="${prefix}_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<xacro:if value="${mirror_dae == True}">
<mesh filename="${mesh_path}/thigh.dae"
scale="1 1 1"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<mesh filename="${mesh_path}/thigh_mirror.dae"
scale="1 1 1"/>
</xacro:if>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 ${pi/2.0+0.1} 0" xyz="${thigh_x_offset} 0 ${-thigh_length/2.0}"/>
<geometry>
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
</geometry>
</collision>
<collision>
<origin rpy="${pi/2.0} 0 0" xyz="0 ${mirror*thigh_shoulder_y_offset} 0"/>
<geometry>
<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
<mass value="${thigh_mass}"/>
<inertia
ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
izz="${thigh_izz}"/>
</inertial>
</link>
<joint name="${prefix}_KFE" type="revolute">
<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
<parent link="${prefix}_thigh"/>
<child link="${prefix}_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}" upper="${calf_position_max}"/>
</joint>
<link name="${prefix}_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="${mesh_path}/calf.dae"
scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 ${pi/2.0} 0" xyz="${calf_x_offset} 0 ${-calf_length/2.0}"/>
<geometry>
<box size="${calf_length} ${calf_width} ${calf_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
<mass value="${calf_mass}"/>
<inertia
ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
iyy="${calf_iyy}" iyz="${calf_iyz}"
izz="${calf_izz}"/>
</inertial>
</link>
<joint name="${prefix}_foot_fixed" type="fixed" dont_collapse="true">
<origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
<parent link="${prefix}_calf"/>
<child link="${prefix}_FOOT"/>
</joint>
<link name="${prefix}_FOOT">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius-0.01}"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius}"/>
</geometry>
</collision>
<inertial>
<mass value="${foot_mass}"/>
<inertia
ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
</inertial>
</link>
<gazebo reference="${prefix}_foot_fixed">
<disableFixedJointLumping>true</disableFixedJointLumping>
<sensor name="${prefix}_foot_end" type="force_torque">
<update_rate>30</update_rate>
</sensor>
</gazebo>
<gazebo reference="${prefix}_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="${prefix}_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>0</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="100.0"/>
</gazebo>
<gazebo reference="${prefix}_calf">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="${prefix}_FOOT">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="100.0"/>
<sensor name='${prefix}_Foot_Contact_Sensor' type='contact'>
<contact>
<collision>${prefix}_FOOT_collision</collision>
</contact>
</sensor>
</gazebo>
<xacro:leg_transmission name="${prefix}"/>
</xacro:macro>
</robot>

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<?xml version="1.0"?>
<robot>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="${233/255} ${233/255} ${216/255} 1.0"/>
</material>
<material name="orange">
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
</material>
<material name="brown">
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- <xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae"> -->
<ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</hardware>
<joint name="RF_HAA">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="LF_HAA">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RH_HAA">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="LH_HAA">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RF_HFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="LF_HFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RH_HFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="LH_HFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RF_KFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="LF_KFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RH_KFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="LH_KFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<sensor name="imu_sensor">
<state_interface name="orientation.x"/>
<state_interface name="orientation.y"/>
<state_interface name="orientation.z"/>
<state_interface name="orientation.w"/>
<state_interface name="angular_velocity.x"/>
<state_interface name="angular_velocity.y"/>
<state_interface name="angular_velocity.z"/>
<state_interface name="linear_acceleration.x"/>
<state_interface name="linear_acceleration.y"/>
<state_interface name="linear_acceleration.z"/>
</sensor>
<sensor name="LF_foot_end">
<state_interface name="force.x"/>
<state_interface name="force.y"/>
<state_interface name="force.z"/>
<param name="frame_id">LF_FOOT</param>
</sensor>
<sensor name="RF_foot_end">
<state_interface name="force.x"/>
<state_interface name="force.y"/>
<state_interface name="force.z"/>
<param name="frame_id">RF_FOOT</param>
</sensor>
<sensor name="LH_foot_end">
<state_interface name="force.x"/>
<state_interface name="force.y"/>
<state_interface name="force.z"/>
<param name="frame_id">LH_FOOT</param>
</sensor>
<sensor name="RH_foot_end">
<state_interface name="force.x"/>
<state_interface name="force.y"/>
<state_interface name="force.z"/>
<param name="frame_id">LH_FOOT</param>
</sensor>
</ros2_control>
<!-- Gazebo's ros2_control plugin -->
<gazebo>
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>$(find quadruped_gazebo)/config/jtc.yaml</parameters>
</plugin>
<plugin filename="gz-sim-imu-system"
name="gz::sim::systems::Imu">
</plugin>
<plugin filename="gz-sim-contact-system"
name="gz::sim::systems::Contact">
</plugin>
<plugin filename="gz-sim-forcetorque-system"
name="gz::sim::systems::ForceTorque">
</plugin>
</gazebo>
</robot>

42
descriptions/quadruped_gazebo/urdf/common/transmission.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="leg_transmission" params="name">
<transmission name="${prefix}_HAA_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}_HAA">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}_HAA_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}_HFE_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}_HFE">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}_HFE_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}_KFE_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}_KFE">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}_KFE_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>

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descriptions/quadruped_gazebo/urdf/go1/const.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Constants for robot dimensions -->
<xacro:property name="PI" value="3.1415926535897931"/>
<!-- simplified collision value -->
<xacro:property name="trunk_width" value="0.0935"/>
<xacro:property name="trunk_length" value="0.3762"/>
<xacro:property name="trunk_height" value="0.114"/>
<xacro:property name="hip_radius" value="0.046"/>
<xacro:property name="hip_length" value="0.04"/>
<xacro:property name="thigh_shoulder_radius" value="0.041"/>
<xacro:property name="thigh_shoulder_length" value="0.032"/>
<xacro:property name="thigh_shoulder_y_offset" value="-0.008"/>
<xacro:property name="thigh_width" value="0.0245"/>
<xacro:property name="thigh_height" value="0.034"/>
<xacro:property name="thigh_x_offset" value="-0.015"/>
<xacro:property name="calf_width" value="0.016"/>
<xacro:property name="calf_height" value="0.016"/>
<xacro:property name="calf_x_offset" value="0.0"/>
<xacro:property name="foot_radius" value="0.02"/>
<!-- kinematic value -->
<xacro:property name="thigh_offset" value="0.08"/>
<xacro:property name="thigh_length" value="0.213"/>
<xacro:property name="calf_length" value="0.213"/>
<!-- leg offset from trunk center value -->
<xacro:property name="leg_offset_x" value="0.1881"/>
<xacro:property name="leg_offset_y" value="0.04675"/>
<!-- <xacro:property name="trunk_offset_z" value="0.01675"/> -->
<xacro:property name="hip_offset" value="0.08"/>
<!-- offset of link and rotor locations (left front) -->
<xacro:property name="hip_offset_x" value="0.1881"/>
<xacro:property name="hip_offset_y" value="0.04675"/>
<xacro:property name="hip_offset_z" value="0.0"/>
<xacro:property name="hip_rotor_offset_x" value="0.11215"/>
<xacro:property name="hip_rotor_offset_y" value="0.04675"/>
<xacro:property name="hip_rotor_offset_z" value="0.0"/>
<xacro:property name="thigh_offset_x" value="0"/>
<xacro:property name="thigh_offset_y" value="0.08"/>
<xacro:property name="thigh_offset_z" value="0.0"/>
<xacro:property name="thigh_rotor_offset_x" value="0.0"/>
<xacro:property name="thigh_rotor_offset_y" value="-0.00015"/>
<xacro:property name="thigh_rotor_offset_z" value="0.0"/>
<xacro:property name="calf_offset_x" value="0.0"/>
<xacro:property name="calf_offset_y" value="0.0"/>
<xacro:property name="calf_offset_z" value="-0.213"/>
<xacro:property name="calf_rotor_offset_x" value="0.0"/>
<xacro:property name="calf_rotor_offset_y" value="-0.03235"/>
<xacro:property name="calf_rotor_offset_z" value="0.0"/>
<!-- joint limits -->
<xacro:property name="damping" value="0.01"/>
<xacro:property name="friction" value="0.2"/>
<xacro:property name="hip_position_max" value="0.863"/>
<xacro:property name="hip_position_min" value="-0.863"/>
<xacro:property name="hip_velocity_max" value="30.1"/>
<xacro:property name="hip_torque_max" value="23.7"/>
<xacro:property name="thigh_position_max" value="4.501"/>
<xacro:property name="thigh_position_min" value="-0.686"/>
<xacro:property name="thigh_velocity_max" value="30.1"/>
<xacro:property name="thigh_torque_max" value="23.7"/>
<xacro:property name="calf_position_max" value="-0.888"/>
<xacro:property name="calf_position_min" value="-2.818"/>
<xacro:property name="calf_velocity_max" value="20.06"/>
<xacro:property name="calf_torque_max" value="35.55"/>
<!-- dynamics inertial value total 12.84kg -->
<!-- trunk -->
<xacro:property name="trunk_mass" value="5.204"/>
<xacro:property name="trunk_com_x" value="0.0223"/>
<xacro:property name="trunk_com_y" value="0.002"/>
<xacro:property name="trunk_com_z" value="-0.0005"/>
<xacro:property name="trunk_ixx" value="0.0168128557"/>
<xacro:property name="trunk_ixy" value="-0.0002296769"/>
<xacro:property name="trunk_ixz" value="-0.0002945293"/>
<xacro:property name="trunk_iyy" value="0.063009565"/>
<xacro:property name="trunk_iyz" value="-0.0000418731"/>
<xacro:property name="trunk_izz" value="0.0716547275"/>
<!-- hip (left front) -->
<xacro:property name="hip_mass" value="0.591"/>
<xacro:property name="hip_com_x" value="-0.005657"/>
<xacro:property name="hip_com_y" value="-0.008752"/>
<xacro:property name="hip_com_z" value="-0.000102"/>
<xacro:property name="hip_ixx" value="0.000334008405"/>
<xacro:property name="hip_ixy" value="-0.000010826066"/>
<xacro:property name="hip_ixz" value="0.000001290732"/>
<xacro:property name="hip_iyy" value="0.000619101213"/>
<xacro:property name="hip_iyz" value="0.000001643194"/>
<xacro:property name="hip_izz" value="0.00040057614"/>
<!-- thigh -->
<xacro:property name="thigh_mass" value="0.92"/>
<xacro:property name="thigh_com_x" value="-0.003342"/>
<xacro:property name="thigh_com_y" value="-0.018054"/>
<xacro:property name="thigh_com_z" value="-0.033451"/>
<xacro:property name="thigh_ixx" value="0.004431760472"/>
<xacro:property name="thigh_ixy" value="0.000057496807"/>
<xacro:property name="thigh_ixz" value="-0.000218457134"/>
<xacro:property name="thigh_iyy" value="0.004485671726"/>
<xacro:property name="thigh_iyz" value="0.000572001265"/>
<xacro:property name="thigh_izz" value="0.000740309489"/>
<!-- calf -->
<xacro:property name="calf_mass" value="0.135862"/>
<xacro:property name="calf_com_x" value="0.006197"/>
<xacro:property name="calf_com_y" value="0.001408"/>
<xacro:property name="calf_com_z" value="-0.116695"/>
<xacro:property name="calf_ixx" value="0.001088793059"/>
<xacro:property name="calf_ixy" value="-0.000000255679"/>
<xacro:property name="calf_ixz" value="0.000007117814"/>
<xacro:property name="calf_iyy" value="0.001100428748"/>
<xacro:property name="calf_iyz" value="0.000002077264"/>
<xacro:property name="calf_izz" value="0.000024787446"/>
<!-- foot -->
<xacro:property name="foot_mass" value="0.06"/>
</robot>

57
descriptions/quadruped_gazebo/urdf/robot.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="robot">
<xacro:arg name="robot_type" default="a1"/>
<xacro:include filename="$(find quadruped_gazebo)/urdf/$(arg robot_type)/const.xacro"/>
<xacro:include filename="$(find quadruped_gazebo)/urdf/common/materials.xacro"/>
<xacro:include filename="$(find quadruped_gazebo)/urdf/common/leg.xacro"/>
<xacro:include filename="$(find quadruped_gazebo)/urdf/common/imu.xacro"/>
<xacro:include filename="$(find quadruped_gazebo)/urdf/common/ros2_control.xacro"/>
<xacro:property name="mesh_path" value="file://$(find quadruped_gazebo)/meshes/$(arg robot_type)"/>
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="${mesh_path}/trunk.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
<mass value="${trunk_mass}"/>
<inertia
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
iyy="${trunk_iyy}" iyz="${trunk_iyz}"
izz="${trunk_izz}"/>
</inertial>
</link>
<xacro:IMU connected_to="base" imu_name="base_imu" xyz="0. 0. 0." rpy="0. 0. 0."/>
<xacro:leg prefix="LF" mesh_path="${mesh_path}" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
</xacro:leg>
<xacro:leg prefix="LH" mesh_path="${mesh_path}" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
</xacro:leg>
<xacro:leg prefix="RF" mesh_path="${mesh_path}" mirror="-1" mirror_dae="False" front_hind="1" front_hind_dae="True">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:leg>
<xacro:leg prefix="RH" mesh_path="${mesh_path}" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:leg>
</robot>

75
hardwares/hardware_unitree_mujoco/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(hardware_unitree_mujoco)
if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif ()
# Generate symbols for IDE indexer
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
set(THIS_PACKAGE_INCLUDE_DEPENDS
hardware_interface
pluginlib
rclcpp
rclcpp_lifecycle
)
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(backward_ros REQUIRED)
find_package(unitree_sdk2 REQUIRED)
foreach (Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
find_package(${Dependency} REQUIRED)
endforeach ()
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
include(GNUInstallDirs)
add_library(
${PROJECT_NAME}
SHARED
src/HardwareUnitree.cpp
)
target_include_directories(${PROJECT_NAME} PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
target_link_libraries(${PROJECT_NAME} unitree_sdk2)
ament_target_dependencies(
${PROJECT_NAME}
${THIS_PACKAGE_INCLUDE_DEPENDS}
)
pluginlib_export_plugin_description_file(hardware_interface HardwareUnitree.xml)
install(
DIRECTORY include/
DESTINATION include/${PROJECT_NAME}
)
install(
TARGETS ${PROJECT_NAME}
EXPORT export_${PROJECT_NAME}
ARCHIVE DESTINATION ib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
if (BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif ()
ament_export_dependencies(${dependencies})
ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
ament_package()

9
hardwares/hardware_unitree_mujoco/HardwareUnitree.xml Normal file
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<library path="hardware_unitree_mujoco">
<class name="hardware_unitree_mujoco/HardwareUnitree"
type="HardwareUnitree"
base_class_type="hardware_interface::SystemInterface">
<description>
Robot System for unitree quadruped robot.
</description>
</class>
</library>

202
hardwares/hardware_unitree_mujoco/LICENSE Normal file
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Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
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limitations under the License.

60
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//
// Created by biao on 24-9-9.
//
#ifndef HARDWAREUNITREE_H
#define HARDWAREUNITREE_H
#include "hardware_interface/system_interface.hpp"
#include <unitree/idl/go2/LowState_.hpp>
#include <unitree/idl/go2/LowCmd_.hpp>
#include <unitree/robot/channel/channel_publisher.hpp>
#include <unitree/robot/channel/channel_subscriber.hpp>
class HardwareUnitree final : public hardware_interface::SystemInterface {
public:
CallbackReturn on_init(const hardware_interface::HardwareInfo &info) override;
std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
hardware_interface::return_type read(const rclcpp::Time &time, const rclcpp::Duration &period) override;
hardware_interface::return_type write(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override;
protected:
std::vector<double> joint_effort_command_;
std::vector<double> joint_position_command_;
std::vector<double> joint_velocities_command_;
std::vector<double> joint_kp_command_;
std::vector<double> joint_kd_command_;
std::vector<double> joint_position_;
std::vector<double> joint_velocities_;
std::vector<double> joint_effort_;
std::unordered_map<std::string, std::vector<std::string> > joint_interfaces = {
{"position", {}},
{"velocity", {}},
{"effort", {}}
};
void init_low_cmd();
void low_state_message_handler(const void *messages);
unitree_go::msg::dds_::LowCmd_ _lowCmd{}; // default init
unitree_go::msg::dds_::LowState_ _lowState{}; // default init
/*publisher*/
unitree::robot::ChannelPublisherPtr<unitree_go::msg::dds_::LowCmd_> lowcmd_publisher;
/*subscriber*/
unitree::robot::ChannelSubscriberPtr<unitree_go::msg::dds_::LowState_> lowstate_subscriber;
};
#endif //HARDWAREUNITREE_H

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//
// Created by biao on 24-7-1.
//
#ifndef STAND_GO2_CRC32_H
#define STAND_GO2_CRC32_H
#include <cstdint>
static uint32_t crc32_core(const uint32_t *ptr, uint32_t len) {
unsigned int xbit = 0;
unsigned int data = 0;
unsigned int CRC32 = 0xFFFFFFFF;
const unsigned int dwPolynomial = 0x04c11db7;
for (unsigned int i = 0; i < len; i++) {
xbit = 1 << 31;
data = ptr[i];
for (unsigned int bits = 0; bits < 32; bits++) {
if (CRC32 & 0x80000000) {
CRC32 <<= 1;
CRC32 ^= dwPolynomial;
} else {
CRC32 <<= 1;
}
if (data & xbit) CRC32 ^= dwPolynomial;
xbit >>= 1;
}
}
return CRC32;
}
#endif // STAND_GO2_CRC32_H

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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>hardware_unitree_mujoco</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="biao876990970@hotmail.com">biao</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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# Hardware Unitree Mujoco
* build
```bash
cd ~/ros2_ws
colcon build --packages-up-to hardware_unitree_mujoco
```

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//
// Created by biao on 24-9-9.
//
#include <hardware_unitree_mujoco/crc32.h>
#include <hardware_unitree_mujoco/HardwareUnitree.h>
#include <rclcpp/logging.hpp>
#define TOPIC_LOWCMD "rt/lowcmd"
#define TOPIC_LOWSTATE "rt/lowstate"
using namespace unitree::robot;
using hardware_interface::return_type;
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn HardwareUnitree::on_init(
const hardware_interface::HardwareInfo &info) {
if (SystemInterface::on_init(info) != CallbackReturn::SUCCESS) {
return CallbackReturn::ERROR;
}
joint_effort_command_.assign(12, 0);
joint_position_command_.assign(12, 0);
joint_velocities_command_.assign(12, 0);
joint_kp_command_.assign(12, 0);
joint_kd_command_.assign(12, 0);
joint_position_.assign(12, 0);
joint_velocities_.assign(12, 0);
joint_effort_.assign(12, 0);
for (const auto &joint: info_.joints) {
for (const auto &interface: joint.state_interfaces) {
joint_interfaces[interface.name].push_back(joint.name);
}
}
RCLCPP_INFO(get_logger(), "Initializing Unitree SDK2 Channel");
ChannelFactory::Instance()->Init(0, "lo");
lowcmd_publisher =
std::make_shared<ChannelPublisher<unitree_go::msg::dds_::LowCmd_> >(
TOPIC_LOWCMD);
lowcmd_publisher->InitChannel();
/*create subscriber*/
lowstate_subscriber =
std::make_shared<ChannelSubscriber<unitree_go::msg::dds_::LowState_> >(
TOPIC_LOWSTATE);
lowstate_subscriber->InitChannel(
[this](auto &&PH1) {
low_state_message_handler(std::forward<decltype(PH1)>(PH1));
},
1);
init_low_cmd();
RCLCPP_INFO(get_logger(), "Initialized Unitree SDK2 Channel");
return SystemInterface::on_init(info);
}
std::vector<hardware_interface::StateInterface> HardwareUnitree::export_state_interfaces() {
std::vector<hardware_interface::StateInterface> state_interfaces;
int ind = 0;
for (const auto &joint_name: joint_interfaces["position"]) {
state_interfaces.emplace_back(joint_name, "position", &joint_position_[ind++]);
}
ind = 0;
for (const auto &joint_name: joint_interfaces["velocity"]) {
state_interfaces.emplace_back(joint_name, "velocity", &joint_velocities_[ind++]);
}
ind = 0;
for (const auto &joint_name: joint_interfaces["effort"]) {
state_interfaces.emplace_back(joint_name, "effort", &joint_velocities_[ind++]);
}
return state_interfaces;
}
std::vector<hardware_interface::CommandInterface> HardwareUnitree::export_command_interfaces() {
std::vector<hardware_interface::CommandInterface> command_interfaces;
int ind = 0;
for (const auto &joint_name: joint_interfaces["position"]) {
command_interfaces.emplace_back(joint_name, "position", &joint_position_command_[ind++]);
}
ind = 0;
for (const auto &joint_name: joint_interfaces["velocity"]) {
command_interfaces.emplace_back(joint_name, "velocity", &joint_velocities_command_[ind++]);
}
ind = 0;
for (const auto &joint_name: joint_interfaces["effort"]) {
command_interfaces.emplace_back(joint_name, "effort", &joint_effort_command_[ind]);
command_interfaces.emplace_back(joint_name, "kp", &joint_kp_command_[ind]);
command_interfaces.emplace_back(joint_name, "kd", &joint_kd_command_[ind]);
}
return command_interfaces;
}
return_type HardwareUnitree::read(const rclcpp::Time &time, const rclcpp::Duration &period) {
for (int i(0); i < 12; ++i) {
joint_position_[i] = _lowState.motor_state()[i].q();
joint_velocities_[i] = _lowState.motor_state()[i].dq();
joint_effort_[i] = _lowState.motor_state()[i].tau_est();
}
return return_type::OK;
}
return_type HardwareUnitree::write(const rclcpp::Time &, const rclcpp::Duration &) {
// send command
for (int i(0); i < 12; ++i) {
_lowCmd.motor_cmd()[i].mode() = 0x01;
_lowCmd.motor_cmd()[i].q() = static_cast<float>(joint_position_command_[i]);
_lowCmd.motor_cmd()[i].dq() = static_cast<float>(joint_velocities_command_[i]);
_lowCmd.motor_cmd()[i].kp() = static_cast<float>(joint_kp_command_[i]);
_lowCmd.motor_cmd()[i].kd() = static_cast<float>(joint_kd_command_[i]);
_lowCmd.motor_cmd()[i].tau() = static_cast<float>(joint_effort_command_[i]);
}
_lowCmd.crc() = crc32_core(reinterpret_cast<uint32_t *>(&_lowCmd),
(sizeof(unitree_go::msg::dds_::LowCmd_) >> 2) - 1);
lowcmd_publisher->Write(_lowCmd);
return return_type::OK;
}
void HardwareUnitree::init_low_cmd() {
_lowCmd.head()[0] = 0xFE;
_lowCmd.head()[1] = 0xEF;
_lowCmd.level_flag() = 0xFF;
_lowCmd.gpio() = 0;
for (int i = 0; i < 20; i++) {
_lowCmd.motor_cmd()[i].mode() =
0x01; // motor switch to servo (PMSM) mode
_lowCmd.motor_cmd()[i].q() = 0;
_lowCmd.motor_cmd()[i].kp() = 0;
_lowCmd.motor_cmd()[i].dq() = 0;
_lowCmd.motor_cmd()[i].kd() = 0;
_lowCmd.motor_cmd()[i].tau() = 0;
}
}
void HardwareUnitree::low_state_message_handler(const void *messages) {
_lowState = *(unitree_go::msg::dds_::LowState_ *) messages;
}
#include "pluginlib/class_list_macros.hpp"
PLUGINLIB_EXPORT_CLASS(
HardwareUnitree, hardware_interface::SystemInterface)

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Constants for robot dimensions -->
<xacro:property name="PI" value="3.1415926535897931"/>
<xacro:property name="stick_mass" value="0.00001"/>
<!-- simplified collision value -->
<xacro:property name="trunk_width" value="0.0935"/>
<xacro:property name="trunk_length" value="0.3762"/>
<xacro:property name="trunk_height" value="0.114"/>
<xacro:property name="hip_radius" value="0.046"/>
<xacro:property name="hip_length" value="0.04"/>
<xacro:property name="thigh_shoulder_radius" value="0.041"/>
<xacro:property name="thigh_shoulder_length" value="0.032"/>
<xacro:property name="thigh_width" value="0.0245"/>
<xacro:property name="thigh_height" value="0.034"/>
<xacro:property name="calf_width" value="0.016"/>
<xacro:property name="calf_height" value="0.016"/>
<xacro:property name="foot_radius" value="0.02"/>
<xacro:property name="stick_radius" value="0.01"/>
<xacro:property name="stick_length" value="0.2"/>
<!-- kinematic value -->
<xacro:property name="thigh_offset" value="0.08"/>
<xacro:property name="thigh_length" value="0.213"/>
<xacro:property name="calf_length" value="0.213"/>
<!-- leg offset from trunk center value -->
<xacro:property name="leg_offset_x" value="0.1881"/>
<xacro:property name="leg_offset_y" value="0.04675"/>
<!-- <xacro:property name="trunk_offset_z" value="0.01675"/> -->
<xacro:property name="hip_offset" value="0.08"/>
<!-- offset of link and rotor locations (left front) -->
<xacro:property name="hip_offset_x" value="0.1881"/>
<xacro:property name="hip_offset_y" value="0.04675"/>
<xacro:property name="hip_offset_z" value="0.0"/>
<xacro:property name="hip_rotor_offset_x" value="0.11215"/>
<xacro:property name="hip_rotor_offset_y" value="0.04675"/>
<xacro:property name="hip_rotor_offset_z" value="0.0"/>
<xacro:property name="thigh_offset_x" value="0"/>
<xacro:property name="thigh_offset_y" value="0.08"/>
<xacro:property name="thigh_offset_z" value="0.0"/>
<xacro:property name="thigh_rotor_offset_x" value="0.0"/>
<xacro:property name="thigh_rotor_offset_y" value="-0.00015"/>
<xacro:property name="thigh_rotor_offset_z" value="0.0"/>
<xacro:property name="calf_offset_x" value="0.0"/>
<xacro:property name="calf_offset_y" value="0.0"/>
<xacro:property name="calf_offset_z" value="-0.213"/>
<xacro:property name="calf_rotor_offset_x" value="0.0"/>
<xacro:property name="calf_rotor_offset_y" value="-0.03235"/>
<xacro:property name="calf_rotor_offset_z" value="0.0"/>
<!-- joint limits -->
<xacro:property name="damping" value="0.0"/>
<xacro:property name="friction" value="0.0"/>
<xacro:property name="hip_position_max" value="0.863"/>
<xacro:property name="hip_position_min" value="-0.863"/>
<xacro:property name="hip_velocity_max" value="30.1"/>
<xacro:property name="hip_torque_max" value="23.7"/>
<xacro:property name="thigh_position_max" value="4.501"/>
<xacro:property name="thigh_position_min" value="-0.686"/>
<xacro:property name="thigh_velocity_max" value="30.1"/>
<xacro:property name="thigh_torque_max" value="23.7"/>
<xacro:property name="calf_position_max" value="-0.888"/>
<xacro:property name="calf_position_min" value="-2.818"/>
<xacro:property name="calf_velocity_max" value="20.06"/>
<xacro:property name="calf_torque_max" value="35.55"/>
<!-- dynamics inertial value total 12.84kg -->
<!-- trunk -->
<xacro:property name="trunk_mass" value="5.204"/>
<xacro:property name="trunk_com_x" value="0.0223"/>
<xacro:property name="trunk_com_y" value="0.002"/>
<xacro:property name="trunk_com_z" value="-0.0005"/>
<xacro:property name="trunk_ixx" value="0.0168128557"/>
<xacro:property name="trunk_ixy" value="-0.0002296769"/>
<xacro:property name="trunk_ixz" value="-0.0002945293"/>
<xacro:property name="trunk_iyy" value="0.063009565"/>
<xacro:property name="trunk_iyz" value="-0.0000418731"/>
<xacro:property name="trunk_izz" value="0.0716547275"/>
<!-- hip (left front) -->
<xacro:property name="hip_mass" value="0.591"/>
<xacro:property name="hip_com_x" value="-0.005657"/>
<xacro:property name="hip_com_y" value="-0.008752"/>
<xacro:property name="hip_com_z" value="-0.000102"/>
<xacro:property name="hip_ixx" value="0.000334008405"/>
<xacro:property name="hip_ixy" value="-0.000010826066"/>
<xacro:property name="hip_ixz" value="0.000001290732"/>
<xacro:property name="hip_iyy" value="0.000619101213"/>
<xacro:property name="hip_iyz" value="0.000001643194"/>
<xacro:property name="hip_izz" value="0.00040057614"/>
<xacro:property name="hip_rotor_mass" value="0.089"/>
<xacro:property name="hip_rotor_com_x" value="0.0"/>
<xacro:property name="hip_rotor_com_y" value="0.0"/>
<xacro:property name="hip_rotor_com_z" value="0.0"/>
<xacro:property name="hip_rotor_ixx" value="0.000111842"/>
<xacro:property name="hip_rotor_ixy" value="0.0"/>
<xacro:property name="hip_rotor_ixz" value="0.0"/>
<xacro:property name="hip_rotor_iyy" value="0.000059647"/>
<xacro:property name="hip_rotor_iyz" value="0.0"/>
<xacro:property name="hip_rotor_izz" value="0.000059647"/>
<!-- thigh -->
<xacro:property name="thigh_mass" value="0.92"/>
<xacro:property name="thigh_com_x" value="-0.003342"/>
<xacro:property name="thigh_com_y" value="-0.018054"/>
<xacro:property name="thigh_com_z" value="-0.033451"/>
<xacro:property name="thigh_ixx" value="0.004431760472"/>
<xacro:property name="thigh_ixy" value="0.000057496807"/>
<xacro:property name="thigh_ixz" value="-0.000218457134"/>
<xacro:property name="thigh_iyy" value="0.004485671726"/>
<xacro:property name="thigh_iyz" value="0.000572001265"/>
<xacro:property name="thigh_izz" value="0.000740309489"/>
<xacro:property name="thigh_rotor_mass" value="0.089"/>
<xacro:property name="thigh_rotor_com_x" value="0.0"/>
<xacro:property name="thigh_rotor_com_y" value="0.0"/>
<xacro:property name="thigh_rotor_com_z" value="0.0"/>
<xacro:property name="thigh_rotor_ixx" value="0.000059647"/>
<xacro:property name="thigh_rotor_ixy" value="0.0"/>
<xacro:property name="thigh_rotor_ixz" value="0.0"/>
<xacro:property name="thigh_rotor_iyy" value="0.000111842"/>
<xacro:property name="thigh_rotor_iyz" value="0.0"/>
<xacro:property name="thigh_rotor_izz" value="0.000059647"/>
<!-- calf -->
<xacro:property name="calf_mass" value="0.135862"/>
<xacro:property name="calf_com_x" value="0.006197"/>
<xacro:property name="calf_com_y" value="0.001408"/>
<xacro:property name="calf_com_z" value="-0.116695"/>
<xacro:property name="calf_ixx" value="0.001088793059"/>
<xacro:property name="calf_ixy" value="-0.000000255679"/>
<xacro:property name="calf_ixz" value="0.000007117814"/>
<xacro:property name="calf_iyy" value="0.001100428748"/>
<xacro:property name="calf_iyz" value="0.000002077264"/>
<xacro:property name="calf_izz" value="0.000024787446"/>
<xacro:property name="calf_rotor_mass" value="0.089"/>
<xacro:property name="calf_rotor_com_x" value="0.0"/>
<xacro:property name="calf_rotor_com_y" value="0.0"/>
<xacro:property name="calf_rotor_com_z" value="0.0"/>
<xacro:property name="calf_rotor_ixx" value="0.000059647"/>
<xacro:property name="calf_rotor_ixy" value="0.0"/>
<xacro:property name="calf_rotor_ixz" value="0.0"/>
<xacro:property name="calf_rotor_iyy" value="0.000111842"/>
<xacro:property name="calf_rotor_iyz" value="0.0"/>
<xacro:property name="calf_rotor_izz" value="0.000059647"/>
<!-- foot -->
<xacro:property name="foot_mass" value="0.06"/>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="depthCamera" params="camID name *origin">
<joint name="camera_joint_${name}" type="fixed">
<xacro:insert_block name="origin"/>
<parent link="trunk"/>
<child link="camera_${name}"/>
</joint>
<link name="camera_${name}">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
</geometry>
</visual>
<inertial>
<mass value="1e-5" />
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>
</link>
<joint name="camera_optical_joint_${name}" type="fixed">
<origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
<parent link="camera_${name}"/>
<child link="camera_optical_${name}"/>
</joint>
<link name="camera_optical_${name}">
</link>
<gazebo reference="camera_${name}">
<!-- <material>Gazebo/Black</material> -->
<sensor name="camera_${name}_camera" type="depth">
<update_rate>16</update_rate>
<camera>
<horizontal_fov>2.094</horizontal_fov>
<image>
<width>928</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.1</near>
<far>5</far>
</clip>
</camera>
<plugin name="camera_${name}_controller" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.025</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>camera_${name}_ir</cameraName>
<imageTopicName>/camera_${name}/color/image_raw</imageTopicName>
<cameraInfoTopicName>/camera_${name}/color/camera_info</cameraInfoTopicName>
<depthImageTopicName>/camera_${name}/depth/image_raw</depthImageTopicName>
<depthImageInfoTopicName>/camera_${name}/depth/camera_info</depthImageInfoTopicName>
<!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
<pointCloudTopicName>/cam${camID}/point_cloud_${name}</pointCloudTopicName>
<frameName>camera_optical_${name}</frameName>
<pointCloudCutoff>0.1</pointCloudCutoff>
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0.0045</Cx>
<Cy>0.0039</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
</gazebo>
</xacro:macro>
</robot>

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<?xml version="1.0"?>
<robot>
<!-- ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/go1_gazebo</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<!-- Show the trajectory of trunk center. -->
<gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>10</frequency>
<plot>
<link>base</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Yellow</material>
</plot>
</plugin>
</gazebo>
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
<!-- <gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>100</frequency>
<plot>
<link>FL_foot</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Green</material>
</plot>
</plugin>
</gazebo> -->
<gazebo>
<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
<bodyName>trunk</bodyName>
<topicName>/apply_force/trunk</topicName>
</plugin>
</gazebo>
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>1000</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>trunk_imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>1000.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- Depth camera -->
<!-- <gazebo>
<plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.025</baseline>
<always_on>true</always_on>
<updateRate>0.0</updateRate>
<cameraName>unitree_camera_left</cameraName>
<frameName>depthCamera_link_left</frameName>
<imageTopicName>rgb/imageRaw_left</imageTopicName>
<depthImageTopicName>depth/imageRaw_left</depthImageTopicName>
<pointCloudTopicName>depth/points_left</pointCloudTopicName>
<cameraInfoTopicName>rgb/cameraInfo_left</cameraInfoTopicName>
<depthImageCameraInfoTopicName>depth/cameraInfo_left</depthImageCameraInfoTopicName>
<pointCloudCutoff>0.1</pointCloudCutoff>
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0.0</CxPrime>
<Cx>0.0045</Cx>
<Cy>0.0039</Cy>
<focalLength>0.004</focalLength>
<hackBaseline>0.0</hackBaseline>
</plugin>
</gazebo> -->
<!-- <gazebo reference="depthCamera_link_left">
<sensor name="unitree_camera_left" type="depth_camera">
<update_rate>16</update_rate>
<always_on>true</always_on>
<visualize>true</visualize>
<camera>
<horizontal_fov>2.094</horizontal_fov>
<image>
<width>928</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<depth_camera></depth_camera>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.025</baseline>
<always_on>true</always_on>
<updateRate>0.0</updateRate>
<cameraName>unitree_camera_left</cameraName>
<frameName>depthCamera_link_left</frameName>
<imageTopicName>rgb/imageRaw_left</imageTopicName>
<depthImageTopicName>depth/imageRaw_left</depthImageTopicName>
<pointCloudTopicName>depth/points_left</pointCloudTopicName>
<cameraInfoTopicName>rgb/cameraInfo_left</cameraInfoTopicName>
<depthImageCameraInfoTopicName>depth/cameraInfo_left</depthImageCameraInfoTopicName>
<pointCloudCutoff>0.1</pointCloudCutoff>
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0.0</CxPrime>
<Cx>0.0045</Cx>
<Cy>0.0039</Cy>
<focalLength>0.004</focalLength>
<hackBaseline>0.0</hackBaseline>
</plugin>
</sensor>
</gazebo> -->
<gazebo reference="depthCamera_link_left">
<sensor name="camera_link_camera" type="depth">
<update_rate>20</update_rate>
<camera>
<horizontal_fov>1.047198</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>3</far>
</clip>
</camera>
<plugin name="camera_link_controller" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.2</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>1.0</updateRate>
<cameraName>camera_link_ir</cameraName>
<imageTopicName>/camera_link/color/image_raw</imageTopicName>
<cameraInfoTopicName>/camera_link/color/camera_info</cameraInfoTopicName>
<depthImageTopicName>/camera_link/depth/image_raw</depthImageTopicName>
<depthImageInfoTopicName>/camera_link/depth/camera_info</depthImageInfoTopicName>
<pointCloudTopicName>/camera_link/depth/points</pointCloudTopicName>
<frameName>depthCamera_link_left</frameName>
<pointCloudCutoff>0.5</pointCloudCutoff>
<pointCloudCutoffMax>3.0</pointCloudCutoffMax>
<distortionK1>0.00000001</distortionK1>
<distortionK2>0.00000001</distortionK2>
<distortionK3>0.00000001</distortionK3>
<distortionT1>0.00000001</distortionT1>
<distortionT2>0.00000001</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0</Cx>
<Cy>0</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
</gazebo>
<!-- Foot contacts. -->
<gazebo reference="FR_calf">
<sensor name="FR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="FL_calf">
<sensor name="FL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RR_calf">
<sensor name="RR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RL_calf">
<sensor name="RL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<!-- Visualization of Foot contacts. -->
<gazebo reference="FR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="FL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="base">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="trunk">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="stick_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="imu_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Red</material>
</gazebo>
<!-- FL leg -->
<gazebo reference="FL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- FR leg -->
<gazebo reference="FR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RL leg -->
<gazebo reference="RL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RR leg -->
<gazebo reference="RR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
</robot>

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hardwares/hardware_unitree_mujoco/xacro/leg.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find go1_description)/xacro/transmission.xacro"/>
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae">
<joint name="${name}_hip_joint" type="revolute">
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
</xacro:if>
<parent link="trunk"/>
<child link="${name}_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<xacro:if value="${(mirror_dae == True)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_position_min}" upper="${hip_position_max}"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_position_max}" upper="${-hip_position_min}"/>
</xacro:if>
</joint>
<joint name="${name}_hip_rotor_joint" type="fixed">
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
</xacro:if>
<parent link="trunk"/>
<child link="${name}_hip_rotor"/>
</joint>
<link name="${name}_hip">
<visual>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<geometry>
<mesh filename="package://go1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/>
<geometry>
<cylinder length="${hip_length}" radius="${hip_radius}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
<mass value="${hip_mass}"/>
<inertia
ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
izz="${hip_izz}"/>
</inertial>
</link>
<link name="${name}_hip_rotor">
<visual>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
<material name="green"/>
</visual>
<!-- <collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
</collision> -->
<inertial>
<origin rpy="0 0 0" xyz="${hip_rotor_com_x} ${hip_rotor_com_y} ${hip_rotor_com_z}"/>
<mass value="${hip_rotor_mass}"/>
<inertia
ixx="${hip_rotor_ixx}" ixy="${hip_rotor_ixy}" ixz="${hip_rotor_ixz}"
iyy="${hip_rotor_iyy}" iyz="${hip_rotor_iyz}"
izz="${hip_rotor_izz}"/>
</inertial>
</link>
<joint name="${name}_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_position_min}" upper="${thigh_position_max}"/>
</joint>
<joint name="${name}_thigh_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="${thigh_rotor_offset_x} ${thigh_rotor_offset_y*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh_rotor"/>
</joint>
<link name="${name}_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<xacro:if value="${mirror_dae == True}">
<mesh filename="package://go1_description/meshes/thigh.dae" scale="1 1 1"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<mesh filename="package://go1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</xacro:if>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
<geometry>
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
<mass value="${thigh_mass}"/>
<inertia
ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
izz="${thigh_izz}"/>
</inertial>
</link>
<link name="${name}_thigh_rotor">
<visual>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
<material name="green"/>
</visual>
<!-- <collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
</collision> -->
<inertial>
<origin rpy="0 0 0" xyz="${thigh_rotor_com_x} ${thigh_rotor_com_y} ${thigh_rotor_com_z}"/>
<mass value="${thigh_rotor_mass}"/>
<inertia
ixx="${thigh_rotor_ixx}" ixy="${thigh_rotor_ixy}" ixz="${thigh_rotor_ixz}"
iyy="${thigh_rotor_iyy}" iyz="${thigh_rotor_iyz}"
izz="${thigh_rotor_izz}"/>
</inertial>
</link>
<joint name="${name}_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
<parent link="${name}_thigh"/>
<child link="${name}_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}" upper="${calf_position_max}"/>
</joint>
<joint name="${name}_calf_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="${calf_rotor_offset_x} ${calf_rotor_offset_y*mirror} 0"/>
<parent link="${name}_thigh"/>
<child link="${name}_calf_rotor"/>
</joint>
<link name="${name}_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
<geometry>
<box size="${calf_length} ${calf_width} ${calf_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
<mass value="${calf_mass}"/>
<inertia
ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
iyy="${calf_iyy}" iyz="${calf_iyz}"
izz="${calf_izz}"/>
</inertial>
</link>
<link name="${name}_calf_rotor">
<visual>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
<material name="green"/>
</visual>
<!-- <collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
</collision> -->
<inertial>
<origin rpy="0 0 0" xyz="${calf_rotor_com_x} ${calf_rotor_com_y} ${calf_rotor_com_z}"/>
<mass value="${calf_rotor_mass}"/>
<inertia
ixx="${calf_rotor_ixx}" ixy="${calf_rotor_ixy}" ixz="${calf_rotor_ixz}"
iyy="${calf_rotor_iyy}" iyz="${calf_rotor_iyz}"
izz="${calf_rotor_izz}"/>
</inertial>
</link>
<joint name="${name}_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
<parent link="${name}_calf"/>
<child link="${name}_foot"/>
</joint>
<link name="${name}_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius-0.01}"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius}"/>
</geometry>
</collision>
<inertial>
<mass value="${foot_mass}"/>
<inertia
ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
</inertial>
</link>
<xacro:leg_transmission name="${name}"/>
</xacro:macro>
</robot>

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<?xml version="1.0"?>
<robot>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="${233/255} ${233/255} ${216/255} 1.0"/>
</material>
<material name="orange">
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
</material>
<material name="brown">
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</robot>

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<?xml version="1.0"?>
<robot name="go1" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="DEBUG" default="false"/>
<xacro:include filename="$(find go1_description)/xacro/const.xacro"/>
<xacro:include filename="$(find go1_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find go1_description)/xacro/leg.xacro"/>
<!-- <xacro:include filename="$(find go1_description)/xacro/stairs.xacro"/> -->
<xacro:include filename="$(find go1_description)/xacro/gazebo.xacro"/>
<xacro:include filename="$(find go1_description)/xacro/depthCamera.xacro"/>
<xacro:include filename="$(find go1_description)/xacro/ultraSound.xacro"/>
<!-- <xacro:include filename="$(find go1_gazebo)/launch/stairs.urdf.xacro"/> -->
<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
<!-- Rotor related joint and link is only for demonstrate location. -->
<!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<xacro:if value="$(arg DEBUG)">
<link name="world"/>
<joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base"/>
</joint>
</xacro:if>
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
<mass value="${trunk_mass}"/>
<inertia
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
iyy="${trunk_iyy}" iyz="${trunk_iyz}"
izz="${trunk_izz}"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="-0.01592 -0.06659 -0.00617"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<!-- <material name="red"/> -->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link>
<xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1" front_hind_dae="True" />
<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True" />
<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False" />
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False" />
<xacro:depthCamera camID="1" name="face">
<origin rpy="${PI} 0 0" xyz="0.2785 0.0125 0.0167"/>
</xacro:depthCamera>
<xacro:depthCamera camID="2" name="chin">
<origin rpy="${PI} ${PI/2} 0" xyz="0.2522 0.0125 -0.0436"/>
</xacro:depthCamera>
<xacro:depthCamera camID="3" name="left">
<origin rpy="${PI} 0.2618 ${PI/2}" xyz="-0.066 0.082 -0.0176"/>
</xacro:depthCamera>
<xacro:depthCamera camID="4" name="right">
<origin rpy="${PI} 0.2618 ${-PI/2}" xyz="-0.041 -0.082 -0.0176"/>
</xacro:depthCamera>
<xacro:depthCamera camID="5" name="rearDown">
<origin rpy="${PI} ${PI/2} 0" xyz="-0.0825 0.0125 -0.04365"/>
</xacro:depthCamera>
<joint name="camera_laserscan_joint_left" type="fixed">
<origin rpy="0 0.2618 0" xyz="0 0 0"/>
<parent link="camera_left"/>
<child link="camera_laserscan_link_left"/>
</joint>
<link name="camera_laserscan_link_left">
</link>
<joint name="camera_laserscan_joint_right" type="fixed">
<origin rpy="0 0.2618 0" xyz="0 0 0"/>
<parent link="camera_right"/>
<child link="camera_laserscan_link_right"/>
</joint>
<link name="camera_laserscan_link_right">
</link>
<xacro:ultraSound name="left">
<origin rpy="0 0.2618 ${PI/2}" xyz="-0.0535 0.0826 0.00868"/>
</xacro:ultraSound>
<xacro:ultraSound name="right">
<origin rpy="0 0.2618 ${-PI/2}" xyz="-0.0535 -0.0826 0.00868"/>
</xacro:ultraSound>
<xacro:ultraSound name="face">
<origin rpy="0 0 0" xyz="0.2747 0.0 -0.0088"/>
</xacro:ultraSound>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="r6bot_ros2_control" params="name">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>hardware_unitree_mujoco/HardwareUnitree</plugin>
</hardware>
<joint name="FR_hip_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FR_thigh_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FR_calf_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_hip_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_thigh_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_calf_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_hip_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_thigh_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_calf_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_hip_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_thigh_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_calf_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
</ros2_control>
</xacro:macro>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="leg_transmission" params="name">
<transmission name="${name}_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${name}_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${name}_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="ultraSound" params="name *origin">
<joint name="ultraSound_joint_${name}" type="fixed">
<xacro:insert_block name="origin"/>
<parent link="trunk"/>
<child link="ultraSound_${name}"/>
</joint>
<link name="ultraSound_${name}">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<inertial>
<mass value="1e-5" />
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>
</link>
</xacro:macro>
</robot>