From 44df86fc7f712790e7926fb3878647f1ccc29b1f Mon Sep 17 00:00:00 2001 From: Huang Zhenbiao Date: Mon, 30 Sep 2024 20:02:56 +0800 Subject: [PATCH] add visualizer --- .images/aliengo.png | Bin 0 -> 34470 bytes .images/b2.png | Bin 0 -> 54028 bytes .images/go1.png | Bin 0 -> 46513 bytes .images/go2.png | Bin 0 -> 54649 bytes README.md | 33 +- .../ocs2_quadruped_controller/CMakeLists.txt | 6 + .../ocs2_quadruped_controller/README.md | 5 + .../config/visualize_ocs2.rviz | 607 ++++++++++++++++++ .../control/CtrlComponent.h | 2 + .../src/Ocs2QuadrupedController.cpp | 11 +- descriptions/aliengo_description/README.md | 2 + .../launch/ocs2_control.launch.py | 4 +- .../aliengo_description/urdf/robot.urdf | 92 +-- .../aliengo_description/xacro/leg.xacro | 3 +- descriptions/b2_description/README.md | 1 + .../b2_description/config/ocs2/task.info | 2 +- .../launch/ocs2_control.launch.py | 10 +- descriptions/go1_description/README.md | 2 + descriptions/go2_description/README.md | 2 + 19 files changed, 675 insertions(+), 107 deletions(-) create mode 100644 .images/aliengo.png create mode 100644 .images/b2.png create mode 100644 .images/go1.png create mode 100644 .images/go2.png create mode 100644 controllers/ocs2_quadruped_controller/config/visualize_ocs2.rviz diff --git a/.images/aliengo.png b/.images/aliengo.png new file mode 100644 index 0000000000000000000000000000000000000000..ce642708e5d67397a9251eb25ef3a8df4f3530df GIT binary patch literal 34470 zcmeFZhdr?7uXJy`-3 zb%llBDKf*$0$!z2t4!o}hij`}W73>%2`>_o(^)N&WcXX=Ixf^6X~ApeD&% zz49gucQ*}}d%b~#j;^k*cAs(#>Cah%+`e9N)H4xt0l|k0d)LVz?|)J|5Fq;{jzpI& zr@iK*nFyJJNu&vx3YdL{ZoT;5H_7z35#TBCye46Y`2T+XI9NL4>UF^%DWsXy{`;ZA z?W~XN|GgO!qTWgV-#g-^ITncidk2(>V)wrv2IrFe-^cym+WlXkT&=+WWySvwD$2(* z6-GR!U>H@E{zl4Sh5sV1#^-1nh9)QYId;TeHJ;mVd@Dqn>F{)a->qa)LZVo$>Y@mj z?onR>ca>aLC4}Arr4vTFM;RR=?Y!<^qNtuHd$zg09z!UW`iPK(U@95yGvIMA=#j=( zR>SU!eicvOLubPUF%{cV=`4{QFUv*;D6XOB{7DDLU>fRP^r$LGj-lywLOuD%df+>*gi&U8;s4QgZ|H4OzM8JO`ki>EMlCo4+?jR!}<^S 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a/README.md b/README.md index 4e36ae8..d09e0d7 100644 --- a/README.md +++ b/README.md @@ -7,21 +7,38 @@ This repository contains the ros2-control based controllers for the quadruped ro * [Hardwares](hardwares): contains the ros2-control hardware interface for the robot Todo List: -- [x] Mujoco Simulation -- [x] Unitree Guide Controller -- [x] Gazebo Simulation -- [x] Leg PD Controller -- [x] Contact Sensor -- [x] OCS2 Legged Control +- [x] [Mujoco Simulation](hardwares/hardware_unitree_mujoco) +- [x] [Unitree Guide Controller](controllers/unitree_guide_controller) +- [x] [Gazebo Simulation](descriptions/quadruped_gazebo) +- [x] [Leg PD Controller](controllers/leg_pd_controller) +- [x] [Contact Sensor Simulation](https://github.com/legubiao/unitree_mujoco) +- [x] [OCS2 Quadruped Control](controllers/ocs2_quadruped_controller) +- [ ] Learning-based Controller Video for Unitree Guide Controller: [![](http://i1.hdslb.com/bfs/archive/310e6208920985ac43015b2da31c01ec15e2c5f9.jpg)](https://www.bilibili.com/video/BV1aJbAeZEuo/) -## 1. Build +## Quick Start * rosdep ```bash cd ~/ros2_ws rosdep install --from-paths src --ignore-src -r -y -``` \ No newline at end of file +``` +* Compile the package +```bash +colcon build --packages-up-to unitree_guide_controller go2_description keyboard_input hardware_unitree_mujoco +``` +* 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 +``` +* 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/go2_description/). \ No newline at end of file diff --git a/controllers/ocs2_quadruped_controller/CMakeLists.txt b/controllers/ocs2_quadruped_controller/CMakeLists.txt index 49e0f55..750786b 100644 --- a/controllers/ocs2_quadruped_controller/CMakeLists.txt +++ b/controllers/ocs2_quadruped_controller/CMakeLists.txt @@ -80,6 +80,12 @@ install( RUNTIME DESTINATION bin ) +install( + DIRECTORY config + DESTINATION share/${PROJECT_NAME}/ +) + + ament_export_dependencies(${CONTROLLER_INCLUDE_DEPENDS}) ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET) diff --git a/controllers/ocs2_quadruped_controller/README.md b/controllers/ocs2_quadruped_controller/README.md index 6589c6f..ea15ef5 100644 --- a/controllers/ocs2_quadruped_controller/README.md +++ b/controllers/ocs2_quadruped_controller/README.md @@ -36,3 +36,8 @@ colcon build --packages-up-to ocs2_quadruped_controller source ~/ros2_ws/install/setup.bash ros2 launch go2_description ocs2_control.launch.py ``` +* Unitree B2 Robot + ```bash + source ~/ros2_ws/install/setup.bash + ros2 launch b2_description ocs2_control.launch.py + ``` \ No newline at end of file diff --git a/controllers/ocs2_quadruped_controller/config/visualize_ocs2.rviz b/controllers/ocs2_quadruped_controller/config/visualize_ocs2.rviz new file mode 100644 index 0000000..28e17c2 --- /dev/null +++ b/controllers/ocs2_quadruped_controller/config/visualize_ocs2.rviz @@ -0,0 +1,607 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: + - /TF1/Frames1 + - /Optimized State Trajectory1 + - /Target Trajectories1/Target Feet Trajectories1/Marker1 + - /Target Trajectories1/Target Feet Trajectories1/Marker2 + - /Target Trajectories1/Target Feet Trajectories1/Marker3 + - /Target Trajectories1/Target Feet Trajectories1/Marker4 + - /Target Trajectories1/Target Base Trajectory1 + Splitter Ratio: 0.5 + Tree Height: 477 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /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: "" + - Class: rviz_common/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.8294117450714111 + Tree Height: 301 +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: odom + Value: true + - Alpha: 0.4000000059604645 + 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_calf_rotor: + 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_hip_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_thigh: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_thigh_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_calf: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_calf_rotor: + 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_hip_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_thigh: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_thigh_rotor: + 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_calf_rotor: + 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_hip_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RL_thigh: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RL_thigh_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_calf: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_calf_rotor: + 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_hip_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_thigh: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RR_thigh_rotor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_Link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + lidar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tail_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 + - Class: rviz_default_plugins/TF + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: false + FL_calf: + Value: true + FL_calf_rotor: + Value: true + FL_foot: + Value: true + FL_hip: + Value: true + FL_hip_rotor: + Value: true + FL_thigh: + Value: true + FL_thigh_rotor: + Value: true + FR_calf: + Value: true + FR_calf_rotor: + Value: true + FR_foot: + Value: true + FR_hip: + Value: true + FR_hip_rotor: + Value: true + FR_thigh: + Value: true + FR_thigh_rotor: + Value: true + RL_calf: + Value: true + RL_calf_rotor: + Value: true + RL_foot: + Value: true + RL_hip: + Value: true + RL_hip_rotor: + Value: true + RL_thigh: + Value: true + RL_thigh_rotor: + Value: true + RR_calf: + Value: true + RR_calf_rotor: + Value: true + RR_foot: + Value: true + RR_hip: + Value: true + RR_hip_rotor: + Value: true + RR_thigh: + Value: true + RR_thigh_rotor: + Value: true + base: + Value: false + head_Link: + Value: true + imu_link: + Value: false + lidar_link: + Value: true + odom: + Value: false + tail_link: + Value: true + trunk: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: false + Show Names: false + Tree: + odom: + base: + trunk: + FL_hip: + FL_thigh: + FL_calf: + FL_foot: + {} + FL_calf_rotor: + {} + FL_thigh_rotor: + {} + FL_hip_rotor: + {} + FR_hip: + FR_thigh: + FR_calf: + FR_foot: + {} + FR_calf_rotor: + {} + FR_thigh_rotor: + {} + FR_hip_rotor: + {} + RL_hip: + RL_thigh: + RL_calf: + RL_foot: + {} + RL_calf_rotor: + {} + RL_thigh_rotor: + {} + RL_hip_rotor: + {} + RR_hip: + RR_thigh: + RR_calf: + RR_foot: + {} + RR_calf_rotor: + {} + RR_thigh_rotor: + {} + RR_hip_rotor: + {} + head_Link: + {} + imu_link: + {} + lidar_link: + {} + tail_link: + {} + Update Interval: 0 + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Optimized State Trajectory + Namespaces: + CoM Trajectory: true + EE Trajectories: true + Future footholds: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /legged_robot/optimizedStateTrajectory + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Current State + Namespaces: + Center of Pressure: true + EE Forces: true + EE Positions: true + Support Polygon: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /legged_robot/currentState + Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/Marker + Enabled: true + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /legged_robot/desiredFeetTrajectory/LF + Value: true + - Class: rviz_default_plugins/Marker + Enabled: true + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /legged_robot/desiredFeetTrajectory/LH + Value: true + - Class: rviz_default_plugins/Marker + Enabled: true + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /legged_robot/desiredFeetTrajectory/RF + Value: true + - Class: rviz_default_plugins/Marker + Enabled: true + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /legged_robot/desiredFeetTrajectory/RH + Value: true + Enabled: false + Name: Target Feet Trajectories + - Class: rviz_default_plugins/Marker + Enabled: true + Name: Target Base Trajectory + Namespaces: + "": true + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /legged_robot/desiredBaseTrajectory + Value: true + Enabled: true + Name: Target Trajectories + - Alpha: 1 + Autocompute Intensity Bounds: true + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: elevation + Color Transformer: GridMapLayer + Enabled: true + Height Layer: elevation + Height Transformer: GridMapLayer + History Length: 1 + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 10 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: GridMap + Show Grid Lines: true + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /raisim_heightmap + Use Rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 238; 238; 238 + Fixed Frame: odom + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/Select + - 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: /move_base_simple/goal + - 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: 4.046566963195801 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.5368534326553345 + Y: 0.8848452568054199 + Z: 0.04236998409032822 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.4303978383541107 + Target Frame: + Value: Orbit (rviz_default_plugins) + Yaw: 5.236791610717773 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 655 + Hide Left Dock: true + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000032c000002a7fc020000000afb0000001200530065006c0065006300740069006f006e000000006e000000b00000005d00fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073000000006e000004770000005d00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003f000002a7000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000001be000001900000000000000000fb000000100044006900730070006c006100790073000000006e00000247000000cc00ffffff000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650000000000000006400000026f00fffffffb0000000800540069006d00650100000000000004500000000000000000000004000000023100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1024 + X: 828 + Y: 212 diff --git a/controllers/ocs2_quadruped_controller/include/ocs2_quadruped_controller/control/CtrlComponent.h b/controllers/ocs2_quadruped_controller/include/ocs2_quadruped_controller/control/CtrlComponent.h index 308876c..f3122cd 100644 --- a/controllers/ocs2_quadruped_controller/include/ocs2_quadruped_controller/control/CtrlComponent.h +++ b/controllers/ocs2_quadruped_controller/include/ocs2_quadruped_controller/control/CtrlComponent.h @@ -10,6 +10,7 @@ #include #include #include +#include #include "TargetManager.h" #include "ocs2_quadruped_controller/estimator/StateEstimateBase.h" @@ -46,6 +47,7 @@ struct CtrlComponent { std::shared_ptr estimator_; std::shared_ptr target_manager_; + std::shared_ptr visualizer_; CtrlComponent() { } diff --git a/controllers/ocs2_quadruped_controller/src/Ocs2QuadrupedController.cpp b/controllers/ocs2_quadruped_controller/src/Ocs2QuadrupedController.cpp index 4d4c5d7..5520378 100644 --- a/controllers/ocs2_quadruped_controller/src/Ocs2QuadrupedController.cpp +++ b/controllers/ocs2_quadruped_controller/src/Ocs2QuadrupedController.cpp @@ -109,6 +109,10 @@ namespace ocs2::legged_robot { ctrl_comp_.joint_kd_command_interface_[i].get().set_value(default_kd_); } + // Visualization + ctrl_comp_.visualizer_->update(ctrl_comp_.observation_, mpc_mrt_interface_->getPolicy(), + mpc_mrt_interface_->getCommand()); + observation_publisher_->publish(ros_msg_conversions::createObservationMsg(ctrl_comp_.observation_)); return controller_interface::return_type::OK; @@ -150,8 +154,11 @@ namespace ocs2::legged_robot { eeKinematicsPtr_ = std::make_shared( legged_interface_->getPinocchioInterface(), pinocchio_mapping, legged_interface_->modelSettings().contactNames3DoF); - // robotVisualizer_ = std::make_shared(leggedInterface_->getPinocchioInterface(), - // leggedInterface_->getCentroidalModelInfo(), *eeKinematicsPtr_, nh); + + ctrl_comp_.visualizer_ = std::make_shared( + legged_interface_->getPinocchioInterface(), legged_interface_->getCentroidalModelInfo(), *eeKinematicsPtr_, + get_node()); + // selfCollisionVisualization_.reset(new LeggedSelfCollisionVisualization(leggedInterface_->getPinocchioInterface(), // leggedInterface_->getGeometryInterface(), pinocchioMapping, nh)); diff --git a/descriptions/aliengo_description/README.md b/descriptions/aliengo_description/README.md index 719a32a..f76b874 100644 --- a/descriptions/aliengo_description/README.md +++ b/descriptions/aliengo_description/README.md @@ -1,6 +1,8 @@ # Unitree AlienGo Description This repository contains the urdf model of Aliengo. +![Aliengo](../../.images/aliengo.png) + Tested environment: * Ubuntu 24.04 * ROS2 Jazzy diff --git a/descriptions/aliengo_description/launch/ocs2_control.launch.py b/descriptions/aliengo_description/launch/ocs2_control.launch.py index 93f52b3..95ffd3e 100644 --- a/descriptions/aliengo_description/launch/ocs2_control.launch.py +++ b/descriptions/aliengo_description/launch/ocs2_control.launch.py @@ -11,7 +11,7 @@ from launch_ros.substitutions import FindPackageShare from sympy.physics.vector.printing import params package_description = "aliengo_description" - +package_controller = "ocs2_quadruped_controller" def process_xacro(context): robot_type_value = context.launch_configurations['robot_type'] @@ -107,7 +107,7 @@ def generate_launch_description(): description='Type of the robot' ) - rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz") + rviz_config_file = os.path.join(get_package_share_directory(package_controller), "config", "visualize_ocs2.rviz") return LaunchDescription([ robot_type_arg, diff --git a/descriptions/aliengo_description/urdf/robot.urdf b/descriptions/aliengo_description/urdf/robot.urdf index ade0e7b..04034cb 100644 --- a/descriptions/aliengo_description/urdf/robot.urdf +++ b/descriptions/aliengo_description/urdf/robot.urdf @@ -276,12 +276,6 @@ - @@ -294,7 +288,7 @@ - + @@ -329,12 +323,6 @@ - @@ -360,7 +348,6 @@ - @@ -380,14 +367,7 @@ - - @@ -405,7 +385,6 @@ - @@ -489,12 +468,6 @@ - @@ -507,7 +480,7 @@ - + @@ -542,12 +515,6 @@ - @@ -573,7 +540,6 @@ - @@ -593,14 +559,7 @@ - - @@ -618,7 +577,6 @@ - @@ -702,12 +660,6 @@ - @@ -720,7 +672,7 @@ - + @@ -755,12 +707,6 @@ - @@ -786,7 +732,6 @@ - @@ -806,14 +751,7 @@ - - @@ -831,7 +769,6 @@ - @@ -915,12 +852,6 @@ - @@ -933,7 +864,7 @@ - + @@ -968,12 +899,6 @@ - @@ -999,7 +924,6 @@ - @@ -1019,14 +943,7 @@ - - @@ -1044,7 +961,6 @@ - diff --git a/descriptions/aliengo_description/xacro/leg.xacro b/descriptions/aliengo_description/xacro/leg.xacro index f6509ab..8d65049 100644 --- a/descriptions/aliengo_description/xacro/leg.xacro +++ b/descriptions/aliengo_description/xacro/leg.xacro @@ -109,7 +109,8 @@ - + diff --git a/descriptions/b2_description/README.md b/descriptions/b2_description/README.md index 2bbe200..f2ff9fd 100644 --- a/descriptions/b2_description/README.md +++ b/descriptions/b2_description/README.md @@ -1,6 +1,7 @@ # Unitree B2 Description This repository contains the urdf model of b2. +![B2](../../.images/b2.png) ## Build ```bash diff --git a/descriptions/b2_description/config/ocs2/task.info b/descriptions/b2_description/config/ocs2/task.info index ec9ecaf..c0cf999 100644 --- a/descriptions/b2_description/config/ocs2/task.info +++ b/descriptions/b2_description/config/ocs2/task.info @@ -19,7 +19,7 @@ swing_trajectory_config { liftOffVelocity 0.5 touchDownVelocity -1.0 - swingHeight 0.3 + swingHeight 0.25 swingTimeScale 0.30 } diff --git a/descriptions/b2_description/launch/ocs2_control.launch.py b/descriptions/b2_description/launch/ocs2_control.launch.py index 8beb1fc..69cc141 100644 --- a/descriptions/b2_description/launch/ocs2_control.launch.py +++ b/descriptions/b2_description/launch/ocs2_control.launch.py @@ -11,7 +11,7 @@ from launch_ros.substitutions import FindPackageShare from sympy.physics.vector.printing import params package_description = "b2_description" - +package_controller = "ocs2_quadruped_controller" def process_xacro(context): robot_type_value = context.launch_configurations['robot_type'] @@ -75,7 +75,7 @@ def launch_setup(context, *args, **kwargs): "--controller-manager", "/controller_manager"], ) - unitree_guide_controller = Node( + ocs2_controller = Node( package="controller_manager", executable="spawner", arguments=["ocs2_quadruped_controller", "--controller-manager", "/controller_manager"] @@ -94,7 +94,7 @@ def launch_setup(context, *args, **kwargs): RegisterEventHandler( event_handler=OnProcessExit( target_action=imu_sensor_broadcaster, - on_exit=[unitree_guide_controller], + on_exit=[ocs2_controller], ) ), ] @@ -103,11 +103,11 @@ def launch_setup(context, *args, **kwargs): def generate_launch_description(): robot_type_arg = DeclareLaunchArgument( 'robot_type', - default_value='go2', + default_value='aliengo', description='Type of the robot' ) - rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz") + rviz_config_file = os.path.join(get_package_share_directory(package_controller), "config", "visualize_ocs2.rviz") return LaunchDescription([ robot_type_arg, diff --git a/descriptions/go1_description/README.md b/descriptions/go1_description/README.md index b552623..c2435cc 100644 --- a/descriptions/go1_description/README.md +++ b/descriptions/go1_description/README.md @@ -1,6 +1,8 @@ # Unitree Go1 Description This repository contains the urdf model of go1. +![go1](../../.images/go1.png) + ## Build ```bash cd ~/ros2_ws diff --git a/descriptions/go2_description/README.md b/descriptions/go2_description/README.md index 3d8b103..42a11de 100644 --- a/descriptions/go2_description/README.md +++ b/descriptions/go2_description/README.md @@ -1,6 +1,8 @@ # Unitree Go2 Description This repository contains the urdf model of go2. +![go2](../../.images/go2.png) + Tested environment: * Ubuntu 24.04 * ROS2 Jazzy