diff --git a/.images/x30.png b/.images/x30.png new file mode 100644 index 0000000..7188380 Binary files /dev/null and b/.images/x30.png differ diff --git a/descriptions/README.md b/descriptions/README.md index aafd84d..fb30ada 100644 --- a/descriptions/README.md +++ b/descriptions/README.md @@ -12,6 +12,7 @@ This folder contains the URDF and SRDF files for the quadruped robot. * [Cyberdog](xiaomi/cyberdog_description/) * Deep Robotics * [Lite 3](deep_robotics/lite3_description/) + * [X30](deep_robotics/x30_description/) ## Steps to transfer urdf to Mujoco model diff --git a/descriptions/deep_robotics/x30_description/CMakeLists.txt b/descriptions/deep_robotics/x30_description/CMakeLists.txt new file mode 100644 index 0000000..a2e7446 --- /dev/null +++ b/descriptions/deep_robotics/x30_description/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 3.8) +project(x30_description) + +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY meshes xacro launch config urdf + DESTINATION share/${PROJECT_NAME}/ +) + +ament_package() \ No newline at end of file diff --git a/descriptions/deep_robotics/x30_description/README.md b/descriptions/deep_robotics/x30_description/README.md new file mode 100644 index 0000000..aa27226 --- /dev/null +++ b/descriptions/deep_robotics/x30_description/README.md @@ -0,0 +1,35 @@ +# DeepRobotics X30 Description +This repository contains the urdf model of x30. + +![x30](../../../.images/x30.png) + +Tested environment: +* Ubuntu 24.04 + * ROS2 Jazzy + +## Build +```bash +cd ~/ros2_ws +colcon build --packages-up-to x30_description --symlink-install +``` + +## Visualize the robot +To visualize and check the configuration of the robot in rviz, simply launch: +```bash +source ~/ros2_ws/install/setup.bash +ros2 launch x30_description visualize.launch.py +``` + +## Launch ROS2 Control + +### Gazebo Simulator +* Unitree Guide Controller + ```bash + source ~/ros2_ws/install/setup.bash + ros2 launch x30_description gazebo_unitree_guide.launch.py + ``` +* Legged Gym Controller + ```bash + source ~/ros2_ws/install/setup.bash + ros2 launch x30_description gazebo_rl_control.launch.py + ``` \ No newline at end of file diff --git a/descriptions/deep_robotics/x30_description/config/gazebo.yaml b/descriptions/deep_robotics/x30_description/config/gazebo.yaml new file mode 100644 index 0000000..559e61c --- /dev/null +++ b/descriptions/deep_robotics/x30_description/config/gazebo.yaml @@ -0,0 +1,143 @@ +# Controller Manager configuration +controller_manager: + ros__parameters: + update_rate: 2000 # Hz + + # Define the available controllers + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + imu_sensor_broadcaster: + type: imu_sensor_broadcaster/IMUSensorBroadcaster + + leg_pd_controller: + type: leg_pd_controller/LegPdController + + unitree_guide_controller: + type: unitree_guide_controller/UnitreeGuideController + + rl_quadruped_controller: + type: rl_quadruped_controller/LeggedGymController + +imu_sensor_broadcaster: + ros__parameters: + sensor_name: "imu_sensor" + frame_id: "imu_link" + +leg_pd_controller: + ros__parameters: + joints: + - FR_HipX + - FR_HipY + - FR_Knee + - FL_HipX + - FL_HipY + - FL_Knee + - HR_HipX + - HR_HipY + - HR_Knee + - HL_HipX + - HL_HipY + - HL_Knee + + command_interfaces: + - effort + + state_interfaces: + - position + - velocity + +unitree_guide_controller: + ros__parameters: + update_rate: 200 # Hz + command_prefix: "leg_pd_controller" + joints: + - FR_HipX + - FR_HipY + - FR_Knee + - FL_HipX + - FL_HipY + - FL_Knee + - HR_HipX + - HR_HipY + - HR_Knee + - HL_HipX + - HL_HipY + - HL_Knee + + command_interfaces: + - effort + - position + - velocity + - kp + - kd + + state_interfaces: + - effort + - position + - velocity + + feet_names: + - FR_FOOT + - FL_FOOT + - HR_FOOT + - HL_FOOT + + imu_name: "imu_sensor" + base_name: "base" + + imu_interfaces: + - orientation.w + - orientation.x + - orientation.y + - orientation.z + - angular_velocity.x + - angular_velocity.y + - angular_velocity.z + - linear_acceleration.x + - linear_acceleration.y + - linear_acceleration.z + +rl_quadruped_controller: + ros__parameters: + update_rate: 200 # Hz + config_folder: "/home/tlab-uav/ros2_ws/install/a1_description/share/a1_description/config/issacgym" + command_prefix: "leg_pd_controller" + joints: + - FL_hip_joint + - FL_thigh_joint + - FL_calf_joint + - FR_hip_joint + - FR_thigh_joint + - FR_calf_joint + - RL_hip_joint + - RL_thigh_joint + - RL_calf_joint + - RR_hip_joint + - RR_thigh_joint + - RR_calf_joint + + command_interfaces: + - effort + - position + - velocity + - kp + - kd + + state_interfaces: + - effort + - position + - velocity + + imu_name: "imu_sensor" + imu_interfaces: + - orientation.w + - orientation.x + - orientation.y + - orientation.z + - angular_velocity.x + - angular_velocity.y + - angular_velocity.z + - linear_acceleration.x + - linear_acceleration.y + - linear_acceleration.z \ No newline at end of file diff --git a/descriptions/deep_robotics/x30_description/config/ocs2/gait.info b/descriptions/deep_robotics/x30_description/config/ocs2/gait.info new file mode 100644 index 0000000..6ea163b --- /dev/null +++ b/descriptions/deep_robotics/x30_description/config/ocs2/gait.info @@ -0,0 +1,255 @@ +list +{ + [0] stance + [1] trot + [2] standing_trot + [3] flying_trot + [4] pace + [5] standing_pace + [6] dynamic_walk + [7] static_walk + [8] amble + [9] lindyhop + [10] skipping + [11] pawup +} + +stance + { + modeSequence + { + [0] STANCE + } + switchingTimes + { + [0] 0.0 + [1] 0.5 + } +} + +trot + { + modeSequence + { + [0] LF_RH + [1] RF_LH + } + switchingTimes + { + [0] 0.0 + [1] 0.3 + [2] 0.6 + } +} + +standing_trot +{ + modeSequence + { + [0] LF_RH + [1] STANCE + [2] RF_LH + [3] STANCE + } + switchingTimes + { + [0] 0.00 + [1] 0.25 + [2] 0.3 + [3] 0.55 + [4] 0.6 + } +} + +flying_trot +{ + modeSequence + { + [0] LF_RH + [1] FLY + [2] RF_LH + [3] FLY + } + switchingTimes + { + [0] 0.00 + [1] 0.15 + [2] 0.2 + [3] 0.35 + [4] 0.4 + } +} + +pace +{ + modeSequence + { + [0] LF_LH + [1] FLY + [2] RF_RH + [3] FLY + } + switchingTimes + { + [0] 0.0 + [1] 0.28 + [2] 0.30 + [3] 0.58 + [4] 0.60 + } +} + +standing_pace +{ + modeSequence + { + [0] LF_LH + [1] STANCE + [2] RF_RH + [3] STANCE + } + switchingTimes + { + [0] 0.0 + [1] 0.30 + [2] 0.35 + [3] 0.65 + [4] 0.70 + } +} + +dynamic_walk +{ + modeSequence + { + [0] LF_RF_RH + [1] RF_RH + [2] RF_LH_RH + [3] LF_RF_LH + [4] LF_LH + [5] LF_LH_RH + } + switchingTimes + { + [0] 0.0 + [1] 0.2 + [2] 0.3 + [3] 0.5 + [4] 0.7 + [5] 0.8 + [6] 1.0 + } +} + +static_walk +{ + modeSequence + { + [0] LF_RF_RH + [1] RF_LH_RH + [2] LF_RF_LH + [3] LF_LH_RH + } + switchingTimes + { + [0] 0.0 + [1] 0.3 + [2] 0.6 + [3] 0.9 + [4] 1.2 + } +} + +amble +{ + modeSequence + { + [0] RF_LH + [1] LF_LH + [2] LF_RH + [3] RF_RH + } + switchingTimes + { + [0] 0.0 + [1] 0.15 + [2] 0.40 + [3] 0.55 + [4] 0.80 + } +} + +lindyhop +{ + modeSequence + { + [0] LF_RH + [1] STANCE + [2] RF_LH + [3] STANCE + [4] LF_LH + [5] RF_RH + [6] LF_LH + [7] STANCE + [8] RF_RH + [9] LF_LH + [10] RF_RH + [11] STANCE + } + switchingTimes + { + [0] 0.00 ; Step 1 + [1] 0.35 ; Stance + [2] 0.45 ; Step 2 + [3] 0.80 ; Stance + [4] 0.90 ; Tripple step + [5] 1.125 ; + [6] 1.35 ; + [7] 1.70 ; Stance + [8] 1.80 ; Tripple step + [9] 2.025 ; + [10] 2.25 ; + [11] 2.60 ; Stance + [12] 2.70 ; + } +} + +skipping +{ + modeSequence + { + [0] LF_RH + [1] FLY + [2] LF_RH + [3] FLY + [4] RF_LH + [5] FLY + [6] RF_LH + [7] FLY + } + switchingTimes + { + [0] 0.00 + [1] 0.27 + [2] 0.30 + [3] 0.57 + [4] 0.60 + [5] 0.87 + [6] 0.90 + [7] 1.17 + [8] 1.20 + } +} + +pawup +{ + modeSequence + { + [0] RF_LH_RH + } + switchingTimes + { + [0] 0.0 + [1] 2.0 + } +} diff --git a/descriptions/deep_robotics/x30_description/config/ocs2/reference.info b/descriptions/deep_robotics/x30_description/config/ocs2/reference.info new file mode 100644 index 0000000..2f69c51 --- /dev/null +++ b/descriptions/deep_robotics/x30_description/config/ocs2/reference.info @@ -0,0 +1,46 @@ +targetDisplacementVelocity 0.5; +targetRotationVelocity 1.57; + +comHeight 0.33 + +defaultJointState +{ + (0,0) -0.20 ; FL_hip_joint + (1,0) 0.72 ; FL_thigh_joint + (2,0) -1.44 ; FL_calf_joint + (3,0) 0.20 ; FR_hip_joint + (4,0) 0.72 ; FR_thigh_joint + (5,0) -1.44 ; FR_calf_joint + (6,0) -0.20 ; RL_hip_joint + (7,0) 0.72 ; RL_thigh_joint + (8,0) -1.44 ; RL_calf_joint + (9,0) 0.20 ; RR_hip_joint + (10,0) 0.72 ; RR_thigh_joint + (11,0) -1.44 ; RR_calf_joint +} + +initialModeSchedule +{ + modeSequence + { + [0] STANCE + [1] STANCE + } + eventTimes + { + [0] 0.5 + } +} + +defaultModeSequenceTemplate +{ + modeSequence + { + [0] STANCE + } + switchingTimes + { + [0] 0.0 + [1] 1.0 + } +} diff --git a/descriptions/deep_robotics/x30_description/config/ocs2/task.info b/descriptions/deep_robotics/x30_description/config/ocs2/task.info new file mode 100644 index 0000000..93f5ce4 --- /dev/null +++ b/descriptions/deep_robotics/x30_description/config/ocs2/task.info @@ -0,0 +1,319 @@ +centroidalModelType 0 // 0: FullCentroidalDynamics, 1: Single Rigid Body Dynamics + +legged_robot_interface +{ + verbose false // show the loaded parameters +} + +model_settings +{ + positionErrorGain 0.0 + phaseTransitionStanceTime 0.1 + + verboseCppAd true + recompileLibrariesCppAd false + modelFolderCppAd /tmp/ocs2_quadruped_controller/a1 +} + +swing_trajectory_config +{ + liftOffVelocity 0.05 + touchDownVelocity -0.1 + swingHeight 0.1 + swingTimeScale 0.15 +} + +; DDP settings +ddp +{ + algorithm SLQ + + nThreads 3 + threadPriority 50 + + maxNumIterations 1 + minRelCost 1e-1 + constraintTolerance 5e-3 + + displayInfo false + displayShortSummary false + checkNumericalStability false + debugPrintRollout false + debugCaching false + + AbsTolODE 1e-5 + RelTolODE 1e-3 + maxNumStepsPerSecond 10000 + timeStep 0.015 + backwardPassIntegratorType ODE45 + + constraintPenaltyInitialValue 20.0 + constraintPenaltyIncreaseRate 2.0 + + preComputeRiccatiTerms true + + useFeedbackPolicy false + + strategy LINE_SEARCH + lineSearch + { + minStepLength 1e-2 + maxStepLength 1.0 + hessianCorrectionStrategy DIAGONAL_SHIFT + hessianCorrectionMultiple 1e-5 + } +} + + +; Multiple_Shooting SQP settings +sqp +{ + nThreads 3 + dt 0.015 + sqpIteration 1 + deltaTol 1e-4 + g_max 1e-2 + g_min 1e-6 + inequalityConstraintMu 0.1 + inequalityConstraintDelta 5.0 + projectStateInputEqualityConstraints true + printSolverStatistics true + printSolverStatus false + printLinesearch false + useFeedbackPolicy false + integratorType RK2 + threadPriority 50 +} + +; Multiple_Shooting IPM settings +ipm +{ + nThreads 3 + dt 0.015 + ipmIteration 1 + deltaTol 1e-4 + g_max 10.0 + g_min 1e-6 + computeLagrangeMultipliers true + printSolverStatistics true + printSolverStatus false + printLinesearch false + useFeedbackPolicy false + integratorType RK2 + threadPriority 50 + + initialBarrierParameter 1e-4 + targetBarrierParameter 1e-4 + barrierLinearDecreaseFactor 0.2 + barrierSuperlinearDecreasePower 1.5 + barrierReductionCostTol 1e-3 + barrierReductionConstraintTol 1e-3 + + fractionToBoundaryMargin 0.995 + usePrimalStepSizeForDual false + + initialSlackLowerBound 1e-4 + initialDualLowerBound 1e-4 + initialSlackMarginRate 1e-2 + initialDualMarginRate 1e-2 +} + +; Rollout settings +rollout +{ + AbsTolODE 1e-5 + RelTolODE 1e-3 + timeStep 0.015 + integratorType ODE45 + maxNumStepsPerSecond 10000 + checkNumericalStability false +} + +mpc +{ + timeHorizon 1.0 ; [s] + solutionTimeWindow -1 ; maximum [s] + coldStart false + + debugPrint false + + mpcDesiredFrequency 100 ; [Hz] + mrtDesiredFrequency 1000 ; [Hz] Useless +} + +initialState +{ + ;; Normalized Centroidal Momentum: [linear, angular] ;; + (0,0) 0.0 ; vcom_x + (1,0) 0.0 ; vcom_y + (2,0) 0.0 ; vcom_z + (3,0) 0.0 ; L_x / robotMass + (4,0) 0.0 ; L_y / robotMass + (5,0) 0.0 ; L_z / robotMass + + ;; Base Pose: [position, orientation] ;; + (6,0) 0.0 ; p_base_x + (7,0) 0.0 ; p_base_y + (8,0) 0.33 ; p_base_z + (9,0) 0.0 ; theta_base_z + (10,0) 0.0 ; theta_base_y + (11,0) 0.0 ; theta_base_x + + ;; Leg Joint Positions: [FL, RL, FR, RR] ;; + (12,0) -0.20 ; FL_hip_joint + (13,0) 0.72 ; FL_thigh_joint + (14,0) -1.44 ; FL_calf_joint + (15,0) -0.20 ; RL_hip_joint + (16,0) 0.72 ; RL_thigh_joint + (17,0) -1.44 ; RL_calf_joint + (18,0) 0.20 ; FR_hip_joint + (19,0) 0.72 ; FR_thigh_joint + (20,0) -1.44 ; FR_calf_joint + (21,0) 0.20 ; RR_hip_joint + (22,0) 0.72 ; RR_thigh_joint + (23,0) -1.44 ; RR_calf_joint +} + +; standard state weight matrix +Q +{ + scaling 1e+0 + + ;; Normalized Centroidal Momentum: [linear, angular] ;; + (0,0) 15.0 ; vcom_x + (1,1) 15.0 ; vcom_y + (2,2) 100.0 ; vcom_z + (3,3) 10.0 ; L_x / robotMass + (4,4) 30.0 ; L_y / robotMass + (5,5) 30.0 ; L_z / robotMass + + ;; Base Pose: [position, orientation] ;; + (6,6) 1000.0 ; p_base_x + (7,7) 1000.0 ; p_base_y + (8,8) 1500.0 ; p_base_z + (9,9) 100.0 ; theta_base_z + (10,10) 300.0 ; theta_base_y + (11,11) 300.0 ; theta_base_x + + ;; Leg Joint Positions: [FL, RL, FR, RR] ;; + (12,12) 5.0 ; FL_hip_joint + (13,13) 5.0 ; FL_thigh_joint + (14,14) 2.5 ; FL_calf_joint + (15,15) 5.0 ; RL_hip_joint + (16,16) 5.0 ; RL_thigh_joint + (17,17) 2.5 ; RL_calf_joint + (18,18) 5.0 ; FR_hip_joint + (19,19) 5.0 ; FR_thigh_joint + (20,20) 2.5 ; FR_calf_joint + (21,21) 5.0 ; RR_hip_joint + (22,22) 5.0 ; RR_thigh_joint + (23,23) 2.5 ; RR_calf_joint +} + +; control weight matrix +R +{ + scaling 1e-3 + + ;; Feet Contact Forces: [FL, FR, RL, RR] ;; + (0,0) 1.0 ; front_left_force + (1,1) 1.0 ; front_left_force + (2,2) 1.0 ; front_left_force + (3,3) 1.0 ; front_right_force + (4,4) 1.0 ; front_right_force + (5,5) 1.0 ; front_right_force + (6,6) 1.0 ; rear_left_force + (7,7) 1.0 ; rear_left_force + (8,8) 1.0 ; rear_left_force + (9,9) 1.0 ; rear_right_force + (10,10) 1.0 ; rear_right_force + (11,11) 1.0 ; rear_right_force + + ;; foot velocity relative to base: [FL, RL, FR, RR] (uses the Jacobian at nominal configuration) ;; + (12,12) 5000.0 ; x + (13,13) 5000.0 ; y + (14,14) 5000.0 ; z + (15,15) 5000.0 ; x + (16,16) 5000.0 ; y + (17,17) 5000.0 ; z + (18,18) 5000.0 ; x + (19,19) 5000.0 ; y + (20,20) 5000.0 ; z + (21,21) 5000.0 ; x + (22,22) 5000.0 ; y + (23,23) 5000.0 ; z +} + +frictionConeSoftConstraint +{ + frictionCoefficient 0.3 + + ; relaxed log barrier parameters + mu 0.1 + delta 5.0 +} + +selfCollision +{ + ; Self Collision raw object pairs + collisionObjectPairs + { + } + + ; Self Collision pairs + collisionLinkPairs + { + [0] "FL_calf, FR_calf" + [1] "RL_calf, RR_calf" + [2] "FL_calf, RL_calf" + [3] "FR_calf, RR_calf" + [4] "FL_foot, FR_foot" + [5] "RL_foot, RR_foot" + [6] "FL_foot, RL_foot" + [7] "FR_foot, RR_foot" + } + + minimumDistance 0.05 + + ; relaxed log barrier parameters + mu 1e-2 + delta 1e-3 +} + +; Whole body control +torqueLimitsTask +{ + (0,0) 33.5 ; HAA + (1,0) 33.5 ; HFE + (2,0) 33.5 ; KFE +} + +frictionConeTask +{ + frictionCoefficient 0.3 +} + +swingLegTask +{ + kp 350 + kd 37 +} + +weight +{ + swingLeg 100 + baseAccel 1 + contactForce 0.01 +} + +; State Estimation +kalmanFilter +{ + footRadius 0.02 + imuProcessNoisePosition 0.02 + imuProcessNoiseVelocity 0.02 + footProcessNoisePosition 0.002 + footSensorNoisePosition 0.005 + footSensorNoiseVelocity 0.1 + footHeightSensorNoise 0.01 +} diff --git a/descriptions/deep_robotics/x30_description/config/robot_control.yaml b/descriptions/deep_robotics/x30_description/config/robot_control.yaml new file mode 100644 index 0000000..4798138 --- /dev/null +++ b/descriptions/deep_robotics/x30_description/config/robot_control.yaml @@ -0,0 +1,76 @@ +# Controller Manager configuration +controller_manager: + ros__parameters: + update_rate: 500 # Hz + + # Define the available controllers + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + imu_sensor_broadcaster: + type: imu_sensor_broadcaster/IMUSensorBroadcaster + + unitree_guide_controller: + type: unitree_guide_controller/UnitreeGuideController + + ocs2_quadruped_controller: + type: ocs2_quadruped_controller/Ocs2QuadrupedController + + rl_quadruped_controller: + type: rl_quadruped_controller/LeggedGymController + +imu_sensor_broadcaster: + ros__parameters: + sensor_name: "imu_sensor" + frame_id: "imu_link" + + +unitree_guide_controller: + ros__parameters: + update_rate: 500 # Hz + joints: + - FR_HipX + - FR_HipY + - FR_Knee + - FL_HipX + - FL_HipY + - FL_Knee + - HR_HipX + - HR_HipY + - HR_Knee + - HL_HipX + - HL_HipY + - HL_Knee + + command_interfaces: + - effort + - position + - velocity + - kp + - kd + + state_interfaces: + - effort + - position + - velocity + + feet_names: + - FR_FOOT + - FL_FOOT + - HR_FOOT + - HL_FOOT + + imu_name: "imu_sensor" + base_name: "base" + + imu_interfaces: + - orientation.w + - orientation.x + - orientation.y + - orientation.z + - angular_velocity.x + - angular_velocity.y + - angular_velocity.z + - linear_acceleration.x + - linear_acceleration.y + - linear_acceleration.z \ No newline at end of file diff --git a/descriptions/deep_robotics/x30_description/config/visualize_urdf.rviz b/descriptions/deep_robotics/x30_description/config/visualize_urdf.rviz new file mode 100644 index 0000000..d6d4e73 --- /dev/null +++ b/descriptions/deep_robotics/x30_description/config/visualize_urdf.rviz @@ -0,0 +1,254 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + Splitter Ratio: 0.5 + Tree Height: 295 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + FL_FOOT: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_HIP: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_SHANK: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_THIGH: + 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_SHANK: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_THIGH: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + HL_FOOT: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + HL_HIP: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + HL_SHANK: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + HL_THIGH: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + HR_FOOT: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + HR_HIP: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + HR_SHANK: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + HR_THIGH: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + INERTIA: + Alpha: 1 + Show Axes: false + Show Trail: false + Link Tree Style: Links in Alphabetic Order + TORSO: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: TORSO + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 1.1684969663619995 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.011728689074516296 + Y: 0.011509218253195286 + Z: -0.10348724573850632 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.42539793252944946 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.6953961849212646 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 691 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 955 + X: 773 + Y: 168 diff --git a/descriptions/deep_robotics/x30_description/launch/gazebo_unitree_guide.launch.py b/descriptions/deep_robotics/x30_description/launch/gazebo_unitree_guide.launch.py new file mode 100644 index 0000000..4058737 --- /dev/null +++ b/descriptions/deep_robotics/x30_description/launch/gazebo_unitree_guide.launch.py @@ -0,0 +1,106 @@ +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.launch_description_sources import PythonLaunchDescriptionSource +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 = "x30_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, mappings={'GAZEBO': 'true'}) + 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() + + gz_spawn_entity = Node( + package='ros_gz_sim', + executable='create', + output='screen', + arguments=['-topic', 'robot_description', '-name', + 'x30', '-allow_renaming', 'true', '-z', '0.4'], + ) + + 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"], + ) + + 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] + ), + 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=leg_pd_controller, + on_exit=[imu_sensor_broadcaster, joint_state_publisher, unitree_guide_controller], + ) + ), + ]) diff --git a/descriptions/deep_robotics/x30_description/launch/unitree_guide.launch.py b/descriptions/deep_robotics/x30_description/launch/unitree_guide.launch.py new file mode 100644 index 0000000..db3906b --- /dev/null +++ b/descriptions/deep_robotics/x30_description/launch/unitree_guide.launch.py @@ -0,0 +1,93 @@ +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 = "x30_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], + ) + ), + ]) diff --git a/descriptions/deep_robotics/x30_description/launch/visualize.launch.py b/descriptions/deep_robotics/x30_description/launch/visualize.launch.py new file mode 100644 index 0000000..1f6bbaa --- /dev/null +++ b/descriptions/deep_robotics/x30_description/launch/visualize.launch.py @@ -0,0 +1,49 @@ +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch_ros.actions import Node + +import xacro + +package_description = "x30_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() + + return LaunchDescription([ + Node( + package='rviz2', + executable='rviz2', + name='rviz_ocs2', + output='screen', + arguments=["-d", rviz_config_file] + ), + Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + output='screen', + parameters=[ + { + 'publish_frequency': 100.0, + 'use_tf_static': True, + 'robot_description': robot_description + } + ], + ), + Node( + package='joint_state_publisher_gui', + executable='joint_state_publisher_gui', + name='joint_state_publisher', + output='screen', + ) + ]) \ No newline at end of file diff --git a/descriptions/deep_robotics/x30_description/meshes/hip.dae b/descriptions/deep_robotics/x30_description/meshes/hip.dae new file mode 100755 index 0000000..dfe35e5 --- /dev/null +++ b/descriptions/deep_robotics/x30_description/meshes/hip.dae @@ -0,0 +1,63 @@ + + + + + VCGLab + VCGLib | MeshLab + + Y_UP + 周四 11月 23 02:55:59 2023 + 周四 11月 23 02:55:59 2023 + + + + + + + + + -0.052187 -0.0146815 0.00680446 -0.051568 -0.0146927 -0.0105037 -0.0403549 -0.0146955 -0.0337797 -0.00247946 -0.0146935 -0.0525686 0.0394202 -0.0146949 -0.0346137 -0.0434452 -0.0157 0.00963156 -0.0441193 -0.0157 -0.00580842 -0.0444576 -0.0157 0.00194106 -0.0428629 -0.0146958 -0.016749 -0.0353016 -0.0147322 -0.0270993 -0.0239089 -0.0147491 -0.0375369 -0.0170031 -0.015017 -0.0411291 -0.00958948 -0.0147363 -0.043461 0.00580842 -0.0157 -0.0441193 0.0092215 -0.0147007 -0.0447162 0.0133814 -0.0157 -0.0424404 0.0205478 -0.0157 -0.039472 0.0328088 -0.0157 -0.0300638 0.0424887 -0.0122 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a/descriptions/deep_robotics/x30_description/xacro/gazebo.xacro b/descriptions/deep_robotics/x30_description/xacro/gazebo.xacro new file mode 100644 index 0000000..74a9cdd --- /dev/null +++ b/descriptions/deep_robotics/x30_description/xacro/gazebo.xacro @@ -0,0 +1,195 @@ + + + + + + gz_ros2_control/GazeboSimSystem + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + $(find x30_description)/config/gazebo.yaml + + + + + + + 0.6 + 0.6 + 1 + + + .05 .05 .05 1.0 + .05 .05 .05 1.0 + .05 .05 .05 1.0 + + + + + + + 1 + 500 + true + imu + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + + + diff --git a/descriptions/deep_robotics/x30_description/xacro/imu_link.xacro b/descriptions/deep_robotics/x30_description/xacro/imu_link.xacro new file mode 100644 index 0000000..b90aa0a 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