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quadruped_ros2_control
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Huang Zhenbiao 2024-10-01 19:10:23 +08:00
parent b2f9f0e685
commit 4b8af1ab51
10 changed files with 1356 additions and 28 deletions
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2
README.md
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@ -18,6 +18,8 @@ Todo List:
Video for Unitree Guide Controller:
[![](http://i1.hdslb.com/bfs/archive/310e6208920985ac43015b2da31c01ec15e2c5f9.jpg)](https://www.bilibili.com/video/BV1aJbAeZEuo/)
Video for OCS2 Quadruped Controller:
[![](http://i0.hdslb.com/bfs/archive/e758ce019587032449a153cf897a543443b64bba.jpg)](https://www.bilibili.com/video/BV1UcxieuEmH/)
## Quick Start

2
controllers/ocs2_quadruped_controller/README.md
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@ -3,6 +3,8 @@
This is a ros2-control controller based on [legged_control](https://github.com/qiayuanl/legged_control)
and [ocs2_ros2](https://github.com/legubiao/ocs2_ros2).
[![](http://i0.hdslb.com/bfs/archive/e758ce019587032449a153cf897a543443b64bba.jpg)](https://www.bilibili.com/video/BV1UcxieuEmH/)
## 2. Build
### 2.1 Build Dependencies

2
descriptions/unitree/aliengo_description/config/ocs2/reference.info
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@ -1,7 +1,7 @@
targetDisplacementVelocity 0.5;
targetRotationVelocity 1.57;
comHeight 0.4
comHeight 0.39
defaultJointState
{

8
descriptions/unitree/aliengo_description/config/ocs2/task.info
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@ -154,7 +154,7 @@ initialState
;; Base Pose: [position, orientation] ;;
(6,0) 0.0 ; p_base_x
(7,0) 0.0 ; p_base_y
(8,0) 0.3 ; p_base_z
(8,0) 0.39 ; p_base_z
(9,0) 0.0 ; theta_base_z
(10,0) 0.0 ; theta_base_y
(11,0) 0.0 ; theta_base_x
@ -283,9 +283,9 @@ selfCollision
; Whole body control
torqueLimitsTask
{
(0,0) 12.0 ; HAA
(1,0) 12.0 ; HFE
(2,0) 12.0 ; KFE
(0,0) 35.278 ; HAA
(1,0) 35.278 ; HFE
(2,0) 44.4 ; KFE
}
frictionConeTask

1
descriptions/unitree/aliengo_description/config/robot_control.yaml
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@ -74,6 +74,7 @@ unitree_guide_controller:
ocs2_quadruped_controller:
ros__parameters:
update_rate: 500 # Hz
default_kd: 5.0
joints:
- FL_hip_joint

18
descriptions/unitree/go1_description/config/ocs2/reference.info
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@ -1,21 +1,21 @@
targetDisplacementVelocity 0.5;
targetRotationVelocity 1.57;
comHeight 0.307
comHeight 0.33
defaultJointState
{
(0,0) -0.20 ; FL_hip_joint
(1,0) 0.7 ; FL_thigh_joint
(0,0) -0.1 ; FL_hip_joint
(1,0) 0.8 ; FL_thigh_joint
(2,0) -1.44 ; FL_calf_joint
(3,0) 0.20 ; FR_hip_joint
(4,0) 0.7 ; FR_thigh_joint
(3,0) 0.1 ; FR_hip_joint
(4,0) 0.8 ; FR_thigh_joint
(5,0) -1.44 ; FR_calf_joint
(6,0) -0.20 ; RL_hip_joint
(7,0) 0.7 ; RL_thigh_joint
(6,0) -0.1 ; RL_hip_joint
(7,0) 0.8 ; RL_thigh_joint
(8,0) -1.44 ; RL_calf_joint
(9,0) 0.20 ; RR_hip_joint
(10,0) 0.7 ; RR_thigh_joint
(9,0) 0.1 ; RR_hip_joint
(10,0) 0.8 ; RR_thigh_joint
(11,0) -1.44 ; RR_calf_joint
}

10
descriptions/unitree/go1_description/config/ocs2/task.info
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@ -19,7 +19,7 @@ swing_trajectory_config
{
liftOffVelocity 0.05
touchDownVelocity -0.1
swingHeight 0.08
swingHeight 0.1
swingTimeScale 0.15
}
@ -154,7 +154,7 @@ initialState
;; Base Pose: [position, orientation] ;;
(6,0) 0.0 ; p_base_x
(7,0) 0.0 ; p_base_y
(8,0) 0.3 ; p_base_z
(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
@ -283,9 +283,9 @@ selfCollision
; Whole body control
torqueLimitsTask
{
(0,0) 33.5 ; HAA
(1,0) 33.5 ; HFE
(2,0) 33.5 ; KFE
(0,0) 23.7 ; HAA
(1,0) 23.7 ; HFE
(2,0) 35.5 ; KFE
}
frictionConeTask

12
descriptions/unitree/go2_description/config/ocs2/reference.info
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@ -1,20 +1,20 @@
targetDisplacementVelocity 0.5;
targetDisplacementVelocity 0.45;
targetRotationVelocity 1.57;
comHeight 0.29
comHeight 0.3
defaultJointState
{
(0,0) -0.10 ; FL_hip_joint
(0,0) -0.20 ; FL_hip_joint
(1,0) 0.72 ; FL_thigh_joint
(2,0) -1.44 ; FL_calf_joint
(3,0) 0.10 ; FR_hip_joint
(3,0) 0.20 ; FR_hip_joint
(4,0) 0.72 ; FR_thigh_joint
(5,0) -1.44 ; FR_calf_joint
(6,0) -0.10 ; RL_hip_joint
(6,0) -0.20 ; RL_hip_joint
(7,0) 0.72 ; RL_thigh_joint
(8,0) -1.44 ; RL_calf_joint
(9,0) 0.10 ; RR_hip_joint
(9,0) 0.20 ; RR_hip_joint
(10,0) 0.72 ; RR_thigh_joint
(11,0) -1.44 ; RR_calf_joint
}

6
descriptions/unitree/go2_description/config/ocs2/task.info
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@ -283,9 +283,9 @@ selfCollision
; Whole body control
torqueLimitsTask
{
(0,0) 33.5 ; HAA
(1,0) 33.5 ; HFE
(2,0) 33.5 ; KFE
(0,0) 23.7 ; HAA
(1,0) 23.7 ; HFE
(2,0) 35.5 ; KFE
}
frictionConeTask

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descriptions/xiaomi/cyberdog_description/urdf/robot.urdf Normal file
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