still struggle with trot
This commit is contained in:
Huang Zhenbiao
parent
842a62465b
commit
2ee53e2f51
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@ -62,9 +62,9 @@ private:
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// Control Parameters
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double gait_height_;
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Vec3 pos_error_, vel_error_;
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Mat3 Kpp, Kdp, Kdw;
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double _kpw;
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Mat3 KpSwing, KdSwing;
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Mat3 Kpp, Kdp, Kd_w_;
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double kp_w_;
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Mat3 Kp_swing_, Kd_swing_;
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Vec2 _vxLim, _vyLim, _wyawLim;
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};
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@ -11,6 +11,7 @@
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#include "LowPassFilter.h"
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class WaveGenerator;
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class QuadrupedRobot;
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struct CtrlComponent;
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@ -106,10 +107,11 @@ public:
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private:
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CtrlComponent &ctrl_component_;
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QuadrupedRobot &robot_model_;
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WaveGenerator &wave_generator_;
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Eigen::Matrix<double, 18, 1> x_hat_; // The state of estimator, position(3)+velocity(3)+feet position(3x4)
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Eigen::Matrix<double, 3, 1> _u; // The input of estimator
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Eigen::Matrix<double, 3, 1> u_; // The input of estimator
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Eigen::Matrix<double, 28, 1> _y; // The measurement value of output y
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Eigen::Matrix<double, 28, 1> y_hat_; // The prediction of output y
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@ -5,14 +5,14 @@
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#ifndef WAVEGENERATOR_H
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#define WAVEGENERATOR_H
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#include <sys/time.h>
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#include <chrono>
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#include <unitree_guide_controller/common/enumClass.h>
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#include <unitree_guide_controller/common/mathTypes.h>
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inline long long getSystemTime() {
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timeval t{};
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gettimeofday(&t, nullptr);
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return 1000000 * t.tv_sec + t.tv_usec;
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const auto now = std::chrono::system_clock::now();
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const auto duration = now.time_since_epoch();
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return std::chrono::duration_cast<std::chrono::microseconds>(duration).count();
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}
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class WaveGenerator {
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@ -86,6 +86,7 @@ public:
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[[nodiscard]] std::vector<KDL::Vector> getFeet2BVelocities() const;
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double mass_ = 0;
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Vec34 feet_pos_normal_stand_;
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std::vector<KDL::JntArray> current_joint_pos_;
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std::vector<KDL::JntArray> current_joint_vel_;
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@ -40,7 +40,7 @@ void StateBalanceTest::run() {
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pcd_(1) = pcd_init_(1) - invNormalize(ctrl_comp_.control_inputs_.get().lx, _yMin, _yMax);
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pcd_(2) = pcd_init_(2) + invNormalize(ctrl_comp_.control_inputs_.get().ry, _zMin, _zMax);
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const float yaw = invNormalize(ctrl_comp_.control_inputs_.get().rx, _yawMin, _yawMax);
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const float yaw = - invNormalize(ctrl_comp_.control_inputs_.get().rx, _yawMin, _yawMax);
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Rd_ = rotz(yaw) * init_rotation_;
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for (int i = 0; i < 12; i++) {
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@ -15,10 +15,10 @@ StateTrotting::StateTrotting(CtrlComponent &ctrlComp) : FSMState(FSMStateName::T
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gait_height_ = 0.08;
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Kpp = Vec3(70, 70, 70).asDiagonal();
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Kdp = Vec3(10, 10, 10).asDiagonal();
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_kpw = 780;
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Kdw = Vec3(70, 70, 70).asDiagonal();
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KpSwing = Vec3(400, 400, 400).asDiagonal();
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KdSwing = Vec3(10, 10, 10).asDiagonal();
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kp_w_ = 780;
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Kd_w_ = Vec3(70, 70, 70).asDiagonal();
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Kp_swing_ = Vec3(300,300,300).asDiagonal();
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Kd_swing_ = Vec3(10, 10, 10).asDiagonal();
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_vxLim << -0.4, 0.4;
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_vyLim << -0.3, 0.3;
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@ -28,9 +28,10 @@ StateTrotting::StateTrotting(CtrlComponent &ctrlComp) : FSMState(FSMStateName::T
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void StateTrotting::enter() {
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pcd_ = estimator_.getPosition();
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pcd_(2) = -robot_model_.feet_pos_normal_stand_(2, 0);
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_vCmdBody.setZero();
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_yawCmd = estimator_.getYaw();
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Rd = Mat3(KDL::Rotation::RPY(0, 0, _yawCmd).Inverse().data);
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Rd = rotz(_yawCmd);
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_wCmdGlobal.setZero();
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ctrl_comp_.control_inputs_.get().command = 0;
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@ -107,7 +108,7 @@ void StateTrotting::calcCmd() {
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/* Turning */
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_yawCmd = _yawCmd + _dYawCmd * dt_;
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Rd = Mat3(KDL::Rotation::RPY(0, 0, _yawCmd).Inverse().data);
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Rd = rotz(_yawCmd);
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_wCmdGlobal(2) = _dYawCmd;
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}
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@ -116,8 +117,8 @@ void StateTrotting::calcTau() {
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vel_error_ = vel_target_ - vel_body_;
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Vec3 dd_pcd = Kpp * pos_error_ + Kdp * vel_error_;
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Vec3 d_wbd = _kpw * rotMatToExp(Rd * G2B_RotMat) +
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Kdw * (_wCmdGlobal - estimator_.getGlobalGyro());
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Vec3 d_wbd = kp_w_ * rotMatToExp(Rd * G2B_RotMat) +
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Kd_w_ * (_wCmdGlobal - estimator_.getGlobalGyro());
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dd_pcd(0) = saturation(dd_pcd(0), Vec2(-3, 3));
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dd_pcd(1) = saturation(dd_pcd(1), Vec2(-3, 3));
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@ -127,9 +128,9 @@ void StateTrotting::calcTau() {
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d_wbd(1) = saturation(d_wbd(1), Vec2(-40, 40));
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d_wbd(2) = saturation(d_wbd(2), Vec2(-10, 10));
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const Vec34 pos_feet2_b_global = estimator_.getFeetPos2Body();
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const Vec34 pos_feet_body_global = estimator_.getFeetPos2Body();
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Vec34 force_feet_global =
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-balance_ctrl_.calF(dd_pcd, d_wbd, B2G_RotMat, pos_feet2_b_global, wave_generator_.contact_);
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-balance_ctrl_.calF(dd_pcd, d_wbd, B2G_RotMat, pos_feet_body_global, wave_generator_.contact_);
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Vec34 pos_feet_global = estimator_.getFeetPos();
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@ -137,8 +138,8 @@ void StateTrotting::calcTau() {
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for (int i(0); i < 4; ++i) {
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if (wave_generator_.contact_(i) == 0) {
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force_feet_global.col(i) =
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KpSwing * (pos_feet_global_goal_.col(i) - pos_feet_global.col(i)) +
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KdSwing * (vel_feet_global_goal_.col(i) - vel_feet_global.col(i));
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Kp_swing_ * (pos_feet_global_goal_.col(i) - pos_feet_global.col(i)) +
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Kd_swing_ * (vel_feet_global_goal_.col(i) - vel_feet_global.col(i));
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}
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}
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@ -154,19 +155,19 @@ void StateTrotting::calcTau() {
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}
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void StateTrotting::calcQQd() {
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const std::vector<KDL::Frame> pos_feet2_b = robot_model_.getFeet2BPositions();
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const std::vector<KDL::Frame> pos_feet_body = robot_model_.getFeet2BPositions();
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Vec34 pos_feet2_b_goal, vel_feet2_b_goal;
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Vec34 pos_feet_target, vel_feet_target;
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for (int i(0); i < 4; ++i) {
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pos_feet2_b_goal.col(i) = G2B_RotMat * (pos_feet_global_goal_.col(i) - pos_body_);
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vel_feet2_b_goal.col(i) = G2B_RotMat * (vel_feet_global_goal_.col(i) - vel_body_);
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// _velFeet2BGoal.col(i) = _G2B_RotMat * (_velFeetGlobalGoal.col(i) -
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// _velBody - _B2G_RotMat * (skew(_lowState->getGyro()) * _posFeet2B.col(i))
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pos_feet_target.col(i) = G2B_RotMat * (pos_feet_global_goal_.col(i) - pos_body_);
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vel_feet_target.col(i) = G2B_RotMat * (vel_feet_global_goal_.col(i) - vel_body_);
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// vel_feet2_target.col(i) = G2B_RotMat * (vel_feet_global_goal_.col(i) - vel_body_ - B2G_RotMat * skew(
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// estimator_.getGyro()) * Vec3(pos_feet_body[i].p.data)
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// ); // c.f formula (6.12)
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}
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Vec12 q_goal = robot_model_.getQ(pos_feet2_b_goal);
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Vec12 qd_goal = robot_model_.getQd(pos_feet2_b, vel_feet2_b_goal);
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Vec12 q_goal = robot_model_.getQ(pos_feet_target);
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Vec12 qd_goal = robot_model_.getQd(pos_feet_body, vel_feet_target);
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for (int i = 0; i < 12; i++) {
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ctrl_comp_.joint_position_command_interface_[i].get().set_value(q_goal(i));
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ctrl_comp_.joint_velocity_command_interface_[i].get().set_value(qd_goal(i));
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@ -176,11 +177,13 @@ void StateTrotting::calcQQd() {
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void StateTrotting::calcGain() const {
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for (int i(0); i < 4; ++i) {
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if (wave_generator_.contact_(i) == 0) {
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// swing gain
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for (int j = 0; j < 3; j++) {
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ctrl_comp_.joint_kp_command_interface_[i * 3 + j].get().set_value(3);
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ctrl_comp_.joint_kd_command_interface_[i * 3 + j].get().set_value(2);
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}
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} else {
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// stable gain
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for (int j = 0; j < 3; j++) {
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ctrl_comp_.joint_kp_command_interface_[i * 3 + j].get().set_value(0.8);
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ctrl_comp_.joint_kd_command_interface_[i * 3 + j].get().set_value(0.8);
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@ -9,7 +9,8 @@
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#include "unitree_guide_controller/control/CtrlComponent.h"
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Estimator::Estimator(CtrlComponent &ctrl_component) : ctrl_component_(ctrl_component),
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robot_model_(ctrl_component.robot_model_) {
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robot_model_(ctrl_component.robot_model_),
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wave_generator_(ctrl_component.wave_generator_) {
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g_ << 0, 0, -9.81;
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_dt = 0.002;
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_largeVariance = 100;
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@ -18,7 +19,7 @@ Estimator::Estimator(CtrlComponent &ctrl_component) : ctrl_component_(ctrl_compo
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}
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x_hat_.setZero();
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_u.setZero();
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u_.setZero();
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A.setZero();
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A.block(0, 0, 3, 3) = I3;
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@ -155,19 +156,16 @@ void Estimator::update() {
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foot_vels_ = robot_model_.getFeet2BVelocities();
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_feetH.setZero();
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const std::vector contact(4, 1);
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const std::vector phase(4, 0.5);
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// Adjust the covariance based on foot contact and phase.
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for (int i(0); i < 4; ++i) {
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if (contact[i] == 0) {
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if (wave_generator_.contact_[i] == 0) {
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// foot not contact
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Q.block(6 + 3 * i, 6 + 3 * i, 3, 3) = _largeVariance * Eigen::MatrixXd::Identity(3, 3);
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R.block(12 + 3 * i, 12 + 3 * i, 3, 3) = _largeVariance * Eigen::MatrixXd::Identity(3, 3);
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R(24 + i, 24 + i) = _largeVariance;
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} else {
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// foot contact
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const double trust = windowFunc(phase[i], 0.2);
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const double trust = windowFunc(wave_generator_.phase_[i], 0.2);
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Q.block(6 + 3 * i, 6 + 3 * i, 3, 3) =
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(1 + (1 - trust) * _largeVariance) *
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QInit_.block(6 + 3 * i, 6 + 3 * i, 3, 3);
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@ -209,8 +207,8 @@ void Estimator::update() {
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// ctrl_component_.imu_state_interface_[8].get().get_value(),
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// ctrl_component_.imu_state_interface_[9].get().get_value());
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_u = rotation_ * acceleration_ + g_;
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x_hat_ = A * x_hat_ + B * _u;
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u_ = rotation_ * acceleration_ + g_;
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x_hat_ = A * x_hat_ + B * u_;
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y_hat_ = C * x_hat_;
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// Update the measurement value
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@ -18,7 +18,8 @@ void FeetEndCtrl::init() {
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t_stance_ = ctrl_component_.wave_generator_.get_t_stance();
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t_swing_ = ctrl_component_.wave_generator_.get_t_swing();
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Vec34 feet_pos_body = estimator_.getFeetPos2Body();
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// Vec34 feet_pos_body = estimator_.getFeetPos2Body();
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Vec34 feet_pos_body = robot_model_.feet_pos_normal_stand_;
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for (int i(0); i < 4; ++i) {
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feet_radius_(i) =
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sqrt(pow(feet_pos_body(0, i), 2) + pow(feet_pos_body(1, i), 2));
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@ -8,10 +8,11 @@
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#include "unitree_guide_controller/control/CtrlComponent.h"
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GaitGenerator::GaitGenerator(CtrlComponent &ctrl_component) : estimator_(ctrl_component.estimator_),
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feet_end_ctrl_(ctrl_component),
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wave_generator_(ctrl_component.wave_generator_) {
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GaitGenerator::GaitGenerator(CtrlComponent &ctrl_component) : wave_generator_(ctrl_component.wave_generator_),
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estimator_(ctrl_component.estimator_),
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feet_end_ctrl_(ctrl_component) {
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first_run_ = true;
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feet_end_ctrl_.init();
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}
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void GaitGenerator::setGait(Vec2 vxy_goal_global, const double d_yaw_goal, const double gait_height) {
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@ -28,8 +29,8 @@ void GaitGenerator::generate(Vec34 &feet_pos, Vec34 &feet_vel) {
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for (int i = 0; i < 4; i++) {
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if (wave_generator_.contact_(i) == 1) {
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// foot contact the ground
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if (wave_generator_.phase_(i) < 0.5) {
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// foot contact the ground
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start_p_.col(i) = estimator_.getFootPos(i);
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}
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feet_pos.col(i) = start_p_.col(i);
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@ -46,9 +47,9 @@ void GaitGenerator::generate(Vec34 &feet_pos, Vec34 &feet_vel) {
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void GaitGenerator::restart() {
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first_run_ = true;
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vxy_goal_.setZero();
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feet_end_ctrl_.init();
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}
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Vec3 GaitGenerator::getFootPos(const int i) {
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Vec3 foot_pos;
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@ -31,6 +31,8 @@ void QuadrupedRobot::init(const std::string &robot_description) {
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for (const auto &[fst, snd]: robot_tree.getSegments()) {
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mass_ += snd.segment.getInertia().getMass();
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}
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feet_pos_normal_stand_ << 0.1881, 0.1881, -0.1881, -0.1881, -0.1300, 0.1300,
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-0.1300, 0.1300, -0.3200, -0.3200, -0.3200, -0.3200;
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}
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std::vector<KDL::JntArray> QuadrupedRobot::getQ(const std::vector<KDL::Frame> &pEe_list) const {
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@ -1,9 +1,62 @@
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# Controller Manager configuration
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controller_manager:
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ros__parameters:
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update_rate: 200 # Hz
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use_sim_time: true # If running in simulation
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update_rate: 500 # Hz
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# Define the available controllers
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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imu_sensor_broadcaster:
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type: imu_sensor_broadcaster/IMUSensorBroadcaster
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unitree_guide_controller:
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type: unitree_guide_controller/UnitreeGuideController
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imu_sensor_broadcaster:
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ros__parameters:
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sensor_name: "imu_sensor"
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frame_id: "imu_link"
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unitree_guide_controller:
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ros__parameters:
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update_rate: 500 # Hz
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joints:
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- FR_hip_joint
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- FR_thigh_joint
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- FR_calf_joint
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- FL_hip_joint
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- FL_thigh_joint
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- FL_calf_joint
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- RR_hip_joint
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- RR_thigh_joint
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- RR_calf_joint
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- RL_hip_joint
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- RL_thigh_joint
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- RL_calf_joint
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command_interfaces:
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- effort
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- position
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- velocity
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- kp
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- kd
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state_interfaces:
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- effort
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- position
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- velocity
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imu_name: "imu_sensor"
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imu_interfaces:
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- orientation.w
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- orientation.x
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- orientation.y
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- orientation.z
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- angular_velocity.x
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- angular_velocity.y
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- angular_velocity.z
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- linear_acceleration.x
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- linear_acceleration.y
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- linear_acceleration.z
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@ -3,8 +3,8 @@ import os
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import xacro
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction, IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.actions import DeclareLaunchArgument, OpaqueFunction, IncludeLaunchDescription, RegisterEventHandler
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from launch.event_handlers import OnProcessExit
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from launch.substitutions import PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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@ -29,8 +29,8 @@ def launch_setup(context, *args, **kwargs):
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"robot_control.yaml",
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]
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)
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return [
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Node(
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robot_state_publisher = Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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@ -42,8 +42,9 @@ def launch_setup(context, *args, **kwargs):
|
|||
'ignore_timestamp': True
|
||||
}
|
||||
],
|
||||
),
|
||||
Node(
|
||||
)
|
||||
|
||||
controller_manager = Node(
|
||||
package="controller_manager",
|
||||
executable="ros2_control_node",
|
||||
parameters=[robot_controllers],
|
||||
|
|
@ -51,21 +52,45 @@ def launch_setup(context, *args, **kwargs):
|
|||
("~/robot_description", "/robot_description"),
|
||||
],
|
||||
output="both",
|
||||
),
|
||||
Node(
|
||||
)
|
||||
|
||||
joint_state_publisher = 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"],
|
||||
# ),
|
||||
]
|
||||
)
|
||||
|
||||
imu_sensor_broadcaster = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["imu_sensor_broadcaster",
|
||||
"--controller-manager", "/controller_manager"],
|
||||
)
|
||||
|
||||
unitree_guide_controller = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["unitree_guide_controller", "--controller-manager", "/controller_manager"],
|
||||
)
|
||||
|
||||
return [
|
||||
robot_state_publisher,
|
||||
controller_manager,
|
||||
joint_state_publisher,
|
||||
RegisterEventHandler(
|
||||
event_handler=OnProcessExit(
|
||||
target_action=joint_state_publisher,
|
||||
on_exit=[imu_sensor_broadcaster],
|
||||
)
|
||||
),
|
||||
RegisterEventHandler(
|
||||
event_handler=OnProcessExit(
|
||||
target_action=imu_sensor_broadcaster,
|
||||
on_exit=[unitree_guide_controller],
|
||||
)
|
||||
),
|
||||
]
|
||||
|
||||
def generate_launch_description():
|
||||
robot_type_arg = DeclareLaunchArgument(
|
||||
|
|
|
|||
|
|
@ -151,6 +151,19 @@
|
|||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<sensor name="imu_sensor">
|
||||
<state_interface name="orientation.w"/>
|
||||
<state_interface name="orientation.x"/>
|
||||
<state_interface name="orientation.y"/>
|
||||
<state_interface name="orientation.z"/>
|
||||
<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>
|
||||
|
||||
</ros2_control>
|
||||
|
||||
</robot>
|
||||
|
|
|
|||
Loading…
Reference in New Issue