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quadruped_ros2_control
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add support for gazebo classic simulator

This commit is contained in:
Huang Zhenbiao 2024-10-17 21:45:48 +08:00
parent 85bd924bee
commit 316d333278
27 changed files with 673 additions and 584 deletions
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39
README.md
View File

@ -23,7 +23,7 @@ Video for OCS2 Quadruped Controller:
[![](http://i0.hdslb.com/bfs/archive/e758ce019587032449a153cf897a543443b64bba.jpg)](https://www.bilibili.com/video/BV1UcxieuEmH/)
## Quick Start
## 1. Quick Start
* rosdep
```bash
cd ~/ros2_ws
@ -33,17 +33,52 @@ rosdep install --from-paths src --ignore-src -r -y
```bash
colcon build --packages-up-to unitree_guide_controller go2_description keyboard_input hardware_unitree_mujoco
```
### 1.1 Mujoco Simulator
* Launch the unitree mujoco go2 simulation
* Launch the ros2-control
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch go2_description unitree_guide.launch.py
ros2 launch unitree_guide_controller mujoco.launch.py
```
* Run the keyboard control node
```bash
source ~/ros2_ws/install/setup.bash
ros2 run keyboard_input keyboard_input
```
### 1.2 Gazebo Classic Simulator (ROS2 Humble)
* Compile Leg PD Controller
```bash
colcon build --packages-up-to leg_pd_controller
```
* Launch the ros2-control
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py
```
* Run the keyboard control node
```bash
source ~/ros2_ws/install/setup.bash
ros2 run keyboard_input keyboard_input
```
### 1.3 Gazebo Harmonic Simulator (ROS2 Jazzy)
* Compile Leg PD Controller
```bash
colcon build --packages-up-to leg_pd_controller
```
* Launch the ros2-control
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo_classic.launch.py
```
* Run the keyboard control node
```bash
source ~/ros2_ws/install/setup.bash
ros2 run keyboard_input keyboard_input
```
For more details, please refer to the [unitree guide controller](controllers/unitree_guide_controller/) and [go2 description](descriptions/unitree/go2_description/).
## Reference

10
controllers/leg_pd_controller/include/leg_pd_controller/LegPdController.h
View File

@ -5,10 +5,13 @@
#ifndef LEGPDCONTROLLER_H
#define LEGPDCONTROLLER_H
#include <controller_interface/chainable_controller_interface.hpp>
#include "realtime_tools/realtime_buffer.h"
#include <controller_interface/controller_interface.hpp>
#include "std_msgs/msg/float64_multi_array.hpp"
namespace leg_pd_controller {
using DataType = std_msgs::msg::Float64MultiArray;
class LegPdController final : public controller_interface::ChainableControllerInterface {
public:
controller_interface::CallbackReturn on_init() override;
@ -34,8 +37,10 @@ namespace leg_pd_controller {
protected:
std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces() override;
controller_interface::return_type update_reference_from_subscribers(
const rclcpp::Time &time, const rclcpp::Duration &period) override;
// controller_interface::return_type update_reference_from_subscribers(
// const rclcpp::Time &time, const rclcpp::Duration &period);
controller_interface::return_type update_reference_from_subscribers() override;
std::vector<double> joint_effort_command_;
std::vector<double> joint_position_command_;
@ -47,6 +52,7 @@ namespace leg_pd_controller {
std::vector<std::string> state_interface_types_;
std::vector<std::string> reference_interface_types_;
realtime_tools::RealtimeBuffer<std::shared_ptr<DataType>> rt_buffer_ptr_;
std::vector<std::reference_wrapper<hardware_interface::LoanedCommandInterface> >
joint_effort_command_interface_;

83
controllers/leg_pd_controller/src/LegPdController.cpp
View File

@ -4,17 +4,22 @@
#include "leg_pd_controller/LegPdController.h"
namespace leg_pd_controller {
namespace leg_pd_controller
{
using config_type = controller_interface::interface_configuration_type;
controller_interface::CallbackReturn LegPdController::on_init() {
try {
controller_interface::CallbackReturn LegPdController::on_init()
{
try
{
joint_names_ = auto_declare<std::vector<std::string>>("joints", joint_names_);
reference_interface_types_ =
auto_declare<std::vector<std::string>>("reference_interfaces", reference_interface_types_);
state_interface_types_ = auto_declare<std::vector<
std::string>>("state_interfaces", state_interface_types_);
} catch (const std::exception &e) {
}
catch (const std::exception& e)
{
fprintf(stderr, "Exception thrown during init stage with message: %s \n", e.what());
return controller_interface::CallbackReturn::ERROR;
}
@ -29,22 +34,27 @@ namespace leg_pd_controller {
return CallbackReturn::SUCCESS;
}
controller_interface::InterfaceConfiguration LegPdController::command_interface_configuration() const {
controller_interface::InterfaceConfiguration LegPdController::command_interface_configuration() const
{
controller_interface::InterfaceConfiguration conf = {config_type::INDIVIDUAL, {}};
conf.names.reserve(joint_names_.size());
for (const auto &joint_name: joint_names_) {
for (const auto& joint_name : joint_names_)
{
conf.names.push_back(joint_name + "/effort");
}
return conf;
}
controller_interface::InterfaceConfiguration LegPdController::state_interface_configuration() const {
controller_interface::InterfaceConfiguration LegPdController::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_) {
for (const auto& joint_name : joint_names_)
{
for (const auto& interface_type : state_interface_types_)
{
conf.names.push_back(joint_name + "/" += interface_type);
}
}
@ -52,24 +62,28 @@ namespace leg_pd_controller {
}
controller_interface::CallbackReturn LegPdController::on_configure(
const rclcpp_lifecycle::State & /*previous_state*/) {
const rclcpp_lifecycle::State& /*previous_state*/)
{
reference_interfaces_.resize(joint_names_.size()*5, std::numeric_limits<double>::quiet_NaN());
return CallbackReturn::SUCCESS;
}
controller_interface::CallbackReturn LegPdController::on_activate(
const rclcpp_lifecycle::State & /*previous_state*/) {
const rclcpp_lifecycle::State& /*previous_state*/)
{
joint_effort_command_interface_.clear();
joint_position_state_interface_.clear();
joint_velocity_state_interface_.clear();
// assign effort command interface
for (auto &interface: command_interfaces_) {
for (auto& interface : command_interfaces_)
{
joint_effort_command_interface_.emplace_back(interface);
}
// assign state interfaces
for (auto &interface: state_interfaces_) {
for (auto& interface : state_interfaces_)
{
state_interface_map_[interface.get_interface_name()]->push_back(interface);
}
@ -77,36 +91,43 @@ namespace leg_pd_controller {
}
controller_interface::CallbackReturn LegPdController::on_deactivate(
const rclcpp_lifecycle::State & /*previous_state*/) {
const rclcpp_lifecycle::State& /*previous_state*/)
{
release_interfaces();
return CallbackReturn::SUCCESS;
}
bool LegPdController::on_set_chained_mode(bool /*chained_mode*/) {
bool LegPdController::on_set_chained_mode(bool /*chained_mode*/)
{
return true;
}
controller_interface::return_type LegPdController::update_and_write_commands(
const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) {
const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/)
{
if (joint_names_.size() != joint_effort_command_.size() ||
joint_names_.size() != joint_kp_command_.size() ||
joint_names_.size() != joint_position_command_.size() ||
joint_names_.size() != joint_position_state_interface_.size() ||
joint_names_.size() != joint_velocity_state_interface_.size() ||
joint_names_.size() != joint_effort_command_interface_.size()) {
joint_names_.size() != joint_effort_command_interface_.size())
{
std::cout << "joint_names_.size() = " << joint_names_.size() << std::endl;
std::cout << "joint_effort_command_.size() = " << joint_effort_command_.size() << std::endl;
std::cout << "joint_kp_command_.size() = " << joint_kp_command_.size() << std::endl;
std::cout << "joint_position_command_.size() = " << joint_position_command_.size() << std::endl;
std::cout << "joint_position_state_interface_.size() = " << joint_position_state_interface_.size() << std::endl;
std::cout << "joint_velocity_state_interface_.size() = " << joint_velocity_state_interface_.size() << std::endl;
std::cout << "joint_effort_command_interface_.size() = " << joint_effort_command_interface_.size() << std::endl;
std::cout << "joint_position_state_interface_.size() = " << joint_position_state_interface_.size() <<
std::endl;
std::cout << "joint_velocity_state_interface_.size() = " << joint_velocity_state_interface_.size() <<
std::endl;
std::cout << "joint_effort_command_interface_.size() = " << joint_effort_command_interface_.size() <<
std::endl;
throw std::runtime_error("Mismatch in vector sizes in update_and_write_commands");
}
for (size_t i = 0; i < joint_names_.size(); ++i) {
for (size_t i = 0; i < joint_names_.size(); ++i)
{
// PD Controller
const double torque = joint_effort_command_[i] + joint_kp_command_[i] * (
joint_position_command_[i] - joint_position_state_interface_[i].get().get_value())
@ -120,12 +141,15 @@ namespace leg_pd_controller {
return controller_interface::return_type::OK;
}
std::vector<hardware_interface::CommandInterface> LegPdController::on_export_reference_interfaces() {
std::vector<hardware_interface::CommandInterface> LegPdController::on_export_reference_interfaces()
{
std::vector<hardware_interface::CommandInterface> reference_interfaces;
int ind = 0;
std::string controller_name = get_node()->get_name();
for (const auto &joint_name: joint_names_) {
for (const auto& joint_name : joint_names_)
{
std::cout << joint_name << std::endl;
reference_interfaces.emplace_back(controller_name, joint_name + "/position", &joint_position_command_[ind]);
reference_interfaces.emplace_back(controller_name, joint_name + "/velocity",
&joint_velocities_command_[ind]);
@ -138,8 +162,13 @@ namespace leg_pd_controller {
return reference_interfaces;
}
controller_interface::return_type LegPdController::update_reference_from_subscribers(
const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) {
// controller_interface::return_type LegPdController::update_reference_from_subscribers(
// const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) {
// return controller_interface::return_type::OK;
// }
controller_interface::return_type LegPdController::update_reference_from_subscribers()
{
return controller_interface::return_type::OK;
}
}

5
controllers/unitree_guide_controller/CMakeLists.txt
View File

@ -77,6 +77,11 @@ install(
RUNTIME DESTINATION bin
)
install(
DIRECTORY launch
DESTINATION share/${PROJECT_NAME}/
)
ament_export_dependencies(${CONTROLLER_INCLUDE_DEPENDS})
ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)

90
descriptions/deep_robotics/x30_description/launch/unitree_guide.launch.py → controllers/unitree_guide_controller/launch/gazebo.launch.py
View File

@ -8,35 +8,36 @@ from launch.event_handlers import OnProcessExit
from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch.launch_description_sources import PythonLaunchDescriptionSource
package_description = "x30_description"
package_description = "go2_description"
def process_xacro():
def launch_setup(context, *args, **kwargs):
package_description = context.launch_configurations['pkg_description']
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)
return robot_description_config.toxml()
robot_description = xacro.process_file(xacro_file, mappings={'GAZEBO': 'true'}).toxml()
def generate_launch_description():
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
robot_description = process_xacro()
robot_controllers = PathJoinSubstitution(
[
FindPackageShare(package_description),
"config",
"robot_control.yaml",
]
rviz = Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
)
controller_manager = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_controllers],
output="both",
gz_spawn_entity = Node(
package='ros_gz_sim',
executable='create',
output='screen',
arguments=['-topic', 'robot_description', '-name',
'robot', '-allow_renaming', 'true', '-z', '0.5'],
)
robot_state_publisher = Node(
@ -67,27 +68,54 @@ def generate_launch_description():
"--controller-manager", "/controller_manager"],
)
leg_pd_controller = Node(
package="controller_manager",
executable="spawner",
arguments=["leg_pd_controller",
"--controller-manager", "/controller_manager"],
)
unitree_guide_controller = Node(
package="controller_manager",
executable="spawner",
arguments=["unitree_guide_controller", "--controller-manager", "/controller_manager"],
)
return LaunchDescription([
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
),
return [
rviz,
robot_state_publisher,
controller_manager,
joint_state_publisher,
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'])]),
robot_state_publisher,
gz_spawn_entity,
leg_pd_controller,
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=joint_state_publisher,
on_exit=[imu_sensor_broadcaster, unitree_guide_controller],
target_action=leg_pd_controller,
on_exit=[imu_sensor_broadcaster, joint_state_publisher, unitree_guide_controller],
)
),
]
def generate_launch_description():
pkg_description = DeclareLaunchArgument(
'pkg_description',
default_value='go2_description',
description='package for robot description'
)
return LaunchDescription([
pkg_description,
OpaqueFunction(function=launch_setup),
])

95
descriptions/unitree/aliengo_description/launch/unitree_guide.launch.py → controllers/unitree_guide_controller/launch/gazebo_classic.launch.py
View File

@ -8,26 +8,42 @@ from launch.event_handlers import OnProcessExit
from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch.launch_description_sources import PythonLaunchDescriptionSource
package_description = "aliengo_description"
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",
]
package_description = context.launch_configurations['pkg_description']
pkg_path = os.path.join(get_package_share_directory(package_description))
xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
robot_description = xacro.process_file(xacro_file, mappings={'GAZEBO': 'true', 'CLASSIC': 'true'}).toxml()
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
rviz = Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
)
gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[PathJoinSubstitution([FindPackageShare("gazebo_ros"), "launch", "gazebo.launch.py"])]
),
launch_arguments={"verbose": "false"}.items(),
)
spawn_entity = Node(
package="gazebo_ros",
executable="spawn_entity.py",
arguments=["-topic", "robot_description", "-entity", "robot", "-z", "0.5"],
output="screen",
)
robot_state_publisher = Node(
@ -44,13 +60,6 @@ def launch_setup(context, *args, **kwargs):
],
)
controller_manager = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_controllers],
output="both",
)
joint_state_publisher = Node(
package="controller_manager",
executable="spawner",
@ -65,6 +74,13 @@ def launch_setup(context, *args, **kwargs):
"--controller-manager", "/controller_manager"],
)
leg_pd_controller = Node(
package="controller_manager",
executable="spawner",
arguments=["leg_pd_controller",
"--controller-manager", "/controller_manager"],
)
unitree_guide_controller = Node(
package="controller_manager",
executable="spawner",
@ -72,41 +88,28 @@ def launch_setup(context, *args, **kwargs):
)
return [
rviz,
robot_state_publisher,
controller_manager,
joint_state_publisher,
gazebo,
spawn_entity,
leg_pd_controller,
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],
target_action=leg_pd_controller,
on_exit=[imu_sensor_broadcaster, joint_state_publisher, unitree_guide_controller],
)
),
]
def generate_launch_description():
robot_type_arg = DeclareLaunchArgument(
'robot_type',
default_value='aliengo',
description='Type of the robot'
pkg_description = DeclareLaunchArgument(
'pkg_description',
default_value='go2_description',
description='package for robot description'
)
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
return LaunchDescription([
robot_type_arg,
pkg_description,
OpaqueFunction(function=launch_setup),
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
)
])

50
descriptions/unitree/a1_description/launch/unitree_guide.launch.py → controllers/unitree_guide_controller/launch/mujoco.launch.py
View File

@ -9,19 +9,18 @@ from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
package_description = "a1_description"
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)
package_description = context.launch_configurations['pkg_description']
pkg_path = os.path.join(get_package_share_directory(package_description))
xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
robot_description = xacro.process_file(xacro_file).toxml()
robot_controllers = PathJoinSubstitution(
[
FindPackageShare(package_description),
@ -30,6 +29,16 @@ def launch_setup(context, *args, **kwargs):
]
)
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
rviz = Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
)
robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
@ -48,6 +57,9 @@ def launch_setup(context, *args, **kwargs):
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_controllers],
remappings=[
("~/robot_description", "/robot_description"),
],
output="both",
)
@ -72,6 +84,7 @@ def launch_setup(context, *args, **kwargs):
)
return [
rviz,
robot_state_publisher,
controller_manager,
joint_state_publisher,
@ -91,22 +104,13 @@ def launch_setup(context, *args, **kwargs):
def generate_launch_description():
robot_type_arg = DeclareLaunchArgument(
'robot_type',
default_value='a1',
description='Type of the robot'
pkg_description = DeclareLaunchArgument(
'pkg_description',
default_value='go2_description',
description='package for robot description'
)
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
return LaunchDescription([
robot_type_arg,
pkg_description,
OpaqueFunction(function=launch_setup),
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
)
])

24
descriptions/README.md
View File

@ -14,7 +14,7 @@ This folder contains the URDF and SRDF files for the quadruped robot.
* [Lite 3](deep_robotics/lite3_description/)
* [X30](deep_robotics/x30_description/)
## Steps to transfer urdf to Mujoco model
## 1. Steps to transfer urdf to Mujoco model
* Install [Mujoco](https://github.com/google-deepmind/mujoco)
* Transfer the mesh files to mujoco supported format, like stl.
@ -29,9 +29,9 @@ This folder contains the URDF and SRDF files for the quadruped robot.
compile robot.urdf robot.xml
```
## Dependencies for Gazebo Simulation
## 2. Dependencies for Gazebo Simulation
Gazebo Simulation only tested on ROS2 Jazzy. I didn't add support for ROS2 Humble because the package name is different.
Gazebo Simulation only tested on ROS2 Jazzy. It add support for ROS2 Humble because the package name is different.
* Gazebo Harmonic
```bash
@ -46,3 +46,21 @@ Gazebo Simulation only tested on ROS2 Jazzy. I didn't add support for ROS2 Humbl
cd ~/ros2_ws
colcon build --packages-up-to leg_pd_controller
```
## 2. Dependencies for Gazebo Classic Simulation
Gazebo Classic (Gazebo11) Simulation only tested on ROS2 Humble.
* Gazebo Classic
```bash
sudo apt-get install ros-humble-gazebo-ros
```
* Ros2-Control for Gazebo
```bash
sudo apt-get install ros-humble-gazebo-ros2-control
```
* Legged PD Controller
```bash
cd ~/ros2_ws
colcon build --packages-up-to leg_pd_controller
```

4
descriptions/deep_robotics/lite3_description/README.md
View File

@ -25,7 +25,7 @@ ros2 launch lite3_description visualize.launch.py
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch lite3_description unitree_guide.launch.py
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=lite3_description
```
* OCS2 Quadruped Controller
```bash
@ -43,7 +43,7 @@ ros2 launch lite3_description visualize.launch.py
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch lite3_description gazebo_unitree_guide.launch.py
ros2 launch lite3_description gazebo.launch.py
```
* Legged Gym Controller
```bash

93
descriptions/deep_robotics/lite3_description/launch/unitree_guide.launch.py
View File

@ -1,93 +0,0 @@
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, RegisterEventHandler
from launch.event_handlers import OnProcessExit
from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
package_description = "lite3_description"
def process_xacro():
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)
return robot_description_config.toxml()
def generate_launch_description():
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
robot_description = process_xacro()
robot_controllers = PathJoinSubstitution(
[
FindPackageShare(package_description),
"config",
"robot_control.yaml",
]
)
controller_manager = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_controllers],
output="both",
)
robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
parameters=[
{
'publish_frequency': 20.0,
'use_tf_static': True,
'robot_description': robot_description,
'ignore_timestamp': True
}
],
)
joint_state_publisher = Node(
package="controller_manager",
executable="spawner",
arguments=["joint_state_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 LaunchDescription([
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
),
robot_state_publisher,
controller_manager,
joint_state_publisher,
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=joint_state_publisher,
on_exit=[imu_sensor_broadcaster, unitree_guide_controller],
)
),
])

8
descriptions/deep_robotics/x30_description/README.md
View File

@ -21,12 +21,18 @@ ros2 launch x30_description visualize.launch.py
```
## Launch ROS2 Control
### Mujoco Simulator
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=x30_description
```
### Gazebo Simulator
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch x30_description gazebo_unitree_guide.launch.py
ros2 launch x30_description gazebo.launch.py
```
* Legged Gym Controller
```bash

13
descriptions/unitree/a1_description/README.md
View File

@ -25,7 +25,7 @@ ros2 launch a1_description visualize.launch.py
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch a1_description unitree_guide.launch.py
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=a1_description
```
* OCS2 Quadruped Controller
```bash
@ -38,11 +38,18 @@ ros2 launch a1_description visualize.launch.py
ros2 launch a1_description rl_control.launch.py
```
### Gazebo Simulator
### Gazebo Classic 11 (ROS2 Humble)
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch a1_description gazebo_unitree_guide.launch.py
ros2 launch unitree_guide_controller gazebo_classic.launch.py pkg_description:=a1_description
```
### Gazebo Harmonic (ROS2 Jazzy)
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch a1_description gazebo.launch.py
```
* RL Quadruped Controller
```bash

2
descriptions/unitree/a1_description/config/gazebo.yaml
View File

@ -26,6 +26,7 @@ imu_sensor_broadcaster:
leg_pd_controller:
ros__parameters:
update_rate: 500 # Hz
joints:
- FR_hip_joint
- FR_thigh_joint
@ -50,6 +51,7 @@ leg_pd_controller:
unitree_guide_controller:
ros__parameters:
command_prefix: "leg_pd_controller"
update_rate: 500 # Hz
joints:
- FR_hip_joint
- FR_thigh_joint

139
descriptions/unitree/a1_description/xacro/gazebo_classic.xacro Normal file
View File

@ -0,0 +1,139 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
<joint name="FR_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FR_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FR_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_calf_joint">
<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>
</ros2_control>
<gazebo>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
<parameters>$(find go2_description)/config/gazebo.yaml</parameters>
</plugin>
</gazebo>
<gazebo reference="trunk">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
</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>
</robot>

8
descriptions/unitree/a1_description/xacro/robot.xacro
View File

@ -4,6 +4,7 @@
<xacro:arg name="DEBUG" default="false"/>
<xacro:arg name="GAZEBO" default="false"/>
<xacro:arg name="CLASSIC" default="false"/>
<xacro:include filename="$(find a1_description)/xacro/const.xacro"/>
<xacro:include filename="$(find a1_description)/xacro/materials.xacro"/>
@ -11,7 +12,12 @@
<xacro:include filename="$(find a1_description)/xacro/stairs.xacro"/>
<xacro:if value="$(arg GAZEBO)">
<xacro:include filename="$(find a1_description)/xacro/gazebo.xacro"/>
<xacro:if value="$(arg CLASSIC)">
<xacro:include filename="$(find go2_description)/xacro/gazebo_classic.xacro"/>
</xacro:if>
<xacro:unless value="$(arg CLASSIC)">
<xacro:include filename="$(find go2_description)/xacro/gazebo.xacro"/>
</xacro:unless>
</xacro:if>
<xacro:unless value="$(arg GAZEBO)">
<xacro:include filename="$(find a1_description)/xacro/ros2_control.xacro"/>

4
descriptions/unitree/aliengo_description/README.md
View File

@ -32,7 +32,7 @@ ros2 launch aliengo_description visualize.launch.py
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch aliengo_description unitree_guide.launch.py
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=aliengo_description
```
* OCS2 Quadruped Controller
```bash
@ -45,5 +45,5 @@ ros2 launch aliengo_description visualize.launch.py
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch aliengo_description gazebo_unitree_guide.launch.py
ros2 launch aliengo_description gazebo.launch.py
```

4
descriptions/unitree/b2_description/README.md
View File

@ -27,7 +27,7 @@ ros2 launch b2_description visualize.launch.py
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch b2_description unitree_guide.launch.py
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=b2_description
```
* OCS2 Quadruped Controller
```bash
@ -40,5 +40,5 @@ ros2 launch b2_description visualize.launch.py
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch b2_description gazebo_unitree_guide.launch.py
ros2 launch b2_description gazebo.launch.py
```

93
descriptions/unitree/b2_description/launch/unitree_guide.launch.py
View File

@ -1,93 +0,0 @@
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, RegisterEventHandler
from launch.event_handlers import OnProcessExit
from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
package_description = "b2_description"
def process_xacro():
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)
return robot_description_config.toxml()
def generate_launch_description():
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
robot_description = process_xacro()
robot_controllers = PathJoinSubstitution(
[
FindPackageShare(package_description),
"config",
"robot_control.yaml",
]
)
controller_manager = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_controllers],
output="both",
)
robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
parameters=[
{
'publish_frequency': 20.0,
'use_tf_static': True,
'robot_description': robot_description,
'ignore_timestamp': True
}
],
)
joint_state_publisher = Node(
package="controller_manager",
executable="spawner",
arguments=["joint_state_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 LaunchDescription([
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
),
robot_state_publisher,
controller_manager,
joint_state_publisher,
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=joint_state_publisher,
on_exit=[imu_sensor_broadcaster, unitree_guide_controller],
)
),
])

4
descriptions/unitree/go1_description/README.md
View File

@ -27,7 +27,7 @@ ros2 launch go1_description visualize.launch.py
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch go1_description unitree_guide.launch.py
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=go1_description
```
* OCS2 Quadruped Controller
```bash
@ -40,5 +40,5 @@ ros2 launch go1_description visualize.launch.py
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch go1_description gazebo_unitree_guide.launch.py
ros2 launch go1_description gazebo.launch.py
```

93
descriptions/unitree/go1_description/launch/unitree_guide.launch.py
View File

@ -1,93 +0,0 @@
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, RegisterEventHandler
from launch.event_handlers import OnProcessExit
from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
package_description = "go1_description"
def process_xacro():
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)
return robot_description_config.toxml()
def generate_launch_description():
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
robot_description = process_xacro()
robot_controllers = PathJoinSubstitution(
[
FindPackageShare(package_description),
"config",
"robot_control.yaml",
]
)
controller_manager = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_controllers],
output="both",
)
robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
parameters=[
{
'publish_frequency': 20.0,
'use_tf_static': True,
'robot_description': robot_description,
'ignore_timestamp': True
}
],
)
joint_state_publisher = Node(
package="controller_manager",
executable="spawner",
arguments=["joint_state_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 LaunchDescription([
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
),
robot_state_publisher,
controller_manager,
joint_state_publisher,
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=joint_state_publisher,
on_exit=[imu_sensor_broadcaster, unitree_guide_controller],
)
),
])

13
descriptions/unitree/go2_description/README.md
View File

@ -34,7 +34,7 @@ ros2 launch go2_description visualize.launch.py
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch go2_description unitree_guide.launch.py
ros2 launch unitree_guide_controller mujoco.launch.py
```
* OCS2 Quadruped Controller
```bash
@ -47,12 +47,19 @@ ros2 launch go2_description visualize.launch.py
ros2 launch go2_description rl_control.launch.py
```
### Gazebo Simulator
### Gazebo Classic 11 (ROS2 Humble)
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo_classic.launch.py
```
### Gazebo Harmonic (ROS2 Jazzy)
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch go2_description gazebo_unitree_guide.launch.py
ros2 launch unitree_guide_controller gazebo.launch.py
```
* RL Quadruped Controller
```bash

2
descriptions/unitree/go2_description/config/gazebo.yaml
View File

@ -26,6 +26,7 @@ imu_sensor_broadcaster:
leg_pd_controller:
ros__parameters:
update_rate: 500 # Hz
joints:
- FR_hip_joint
- FR_thigh_joint
@ -49,6 +50,7 @@ leg_pd_controller:
unitree_guide_controller:
ros__parameters:
update_rate: 500 # Hz
command_prefix: "leg_pd_controller"
joints:
- FR_hip_joint

85
descriptions/unitree/go2_description/launch/unitree_guide.launch.py → descriptions/unitree/go2_description/launch/gazebo_classic.launch.py
View File

@ -8,38 +8,42 @@ from launch.event_handlers import OnProcessExit
from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch.launch_description_sources import PythonLaunchDescriptionSource
package_description = "go2_description"
def process_xacro():
def launch_setup(context, *args, **kwargs):
package_description = context.launch_configurations['pkg_description']
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)
return robot_description_config.toxml()
robot_description = xacro.process_file(xacro_file, mappings={'GAZEBO': 'true', 'CLASSIC': 'true'}).toxml()
def generate_launch_description():
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
robot_description = process_xacro()
robot_controllers = PathJoinSubstitution(
[
FindPackageShare(package_description),
"config",
"robot_control.yaml",
]
rviz = Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
)
controller_manager = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_controllers],
output="both",
remappings=[
("~/robot_description", "/robot_description"),
],
gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[PathJoinSubstitution([FindPackageShare("gazebo_ros"), "launch", "gazebo.launch.py"])]
),
launch_arguments={"verbose": "false"}.items(),
)
spawn_entity = Node(
package="gazebo_ros",
executable="spawn_entity.py",
arguments=["-topic", "robot_description", "-entity", "robot", "-z", "0.5"],
output="screen",
)
robot_state_publisher = Node(
@ -70,27 +74,42 @@ def generate_launch_description():
"--controller-manager", "/controller_manager"],
)
leg_pd_controller = Node(
package="controller_manager",
executable="spawner",
arguments=["leg_pd_controller",
"--controller-manager", "/controller_manager"],
)
unitree_guide_controller = Node(
package="controller_manager",
executable="spawner",
arguments=["unitree_guide_controller", "--controller-manager", "/controller_manager"],
)
return LaunchDescription([
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
),
return [
rviz,
robot_state_publisher,
controller_manager,
joint_state_publisher,
gazebo,
spawn_entity,
leg_pd_controller,
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=joint_state_publisher,
on_exit=[imu_sensor_broadcaster, unitree_guide_controller],
target_action=leg_pd_controller,
on_exit=[imu_sensor_broadcaster, joint_state_publisher, unitree_guide_controller],
)
),
]
def generate_launch_description():
pkg_description = DeclareLaunchArgument(
'pkg_description',
default_value='go2_description',
description='package for robot description'
)
return LaunchDescription([
pkg_description,
OpaqueFunction(function=launch_setup),
])

139
descriptions/unitree/go2_description/xacro/gazebo_classic.xacro Normal file
View File

@ -0,0 +1,139 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
<joint name="FR_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FR_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FR_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_calf_joint">
<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>
</ros2_control>
<gazebo>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
<parameters>$(find go2_description)/config/gazebo.yaml</parameters>
</plugin>
</gazebo>
<gazebo reference="trunk">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
</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>
</robot>

6
descriptions/unitree/go2_description/xacro/robot.xacro
View File

@ -4,13 +4,19 @@
<xacro:arg name="DEBUG" default="false"/>
<xacro:arg name="GAZEBO" default="false"/>
<xacro:arg name="CLASSIC" default="false"/>
<xacro:include filename="$(find go2_description)/xacro/const.xacro"/>
<xacro:include filename="$(find go2_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find go2_description)/xacro/leg.xacro"/>
<xacro:if value="$(arg GAZEBO)">
<xacro:if value="$(arg CLASSIC)">
<xacro:include filename="$(find go2_description)/xacro/gazebo_classic.xacro"/>
</xacro:if>
<xacro:unless value="$(arg CLASSIC)">
<xacro:include filename="$(find go2_description)/xacro/gazebo.xacro"/>
</xacro:unless>
</xacro:if>
<xacro:unless value="$(arg GAZEBO)">
<xacro:include filename="$(find go2_description)/xacro/ros2_control.xacro"/>

4
descriptions/xiaomi/cyberdog_description/README.md
View File

@ -28,7 +28,7 @@ ros2 launch cyberdog_description visualize.launch.py
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch cyberdog_description unitree_guide.launch.py
ros2 launch unitree_guide_controller mujoco.launch.py pkg_description:=cyberdog_description
```
* OCS2 Quadruped Controller
```bash
@ -41,5 +41,5 @@ ros2 launch cyberdog_description visualize.launch.py
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch cyberdog_description gazebo_unitree_guide.launch.py
ros2 launch cyberdog_description gazebo.launch.py
```

93
descriptions/xiaomi/cyberdog_description/launch/unitree_guide.launch.py
View File

@ -1,93 +0,0 @@
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, RegisterEventHandler
from launch.event_handlers import OnProcessExit
from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
package_description = "cyberdog_description"
def process_xacro():
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)
return robot_description_config.toxml()
def generate_launch_description():
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
robot_description = process_xacro()
robot_controllers = PathJoinSubstitution(
[
FindPackageShare(package_description),
"config",
"robot_control.yaml",
]
)
controller_manager = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_controllers],
output="both",
)
robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
parameters=[
{
'publish_frequency': 20.0,
'use_tf_static': True,
'robot_description': robot_description,
'ignore_timestamp': True
}
],
)
joint_state_publisher = Node(
package="controller_manager",
executable="spawner",
arguments=["joint_state_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 LaunchDescription([
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
),
robot_state_publisher,
controller_manager,
joint_state_publisher,
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=joint_state_publisher,
on_exit=[imu_sensor_broadcaster, unitree_guide_controller],
)
),
])