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add more gazebo simulation support

This commit is contained in:
Zhenbiao Huang 2024-10-10 22:44:32 +08:00
parent dc266f15d5
commit 50f151753f
72 changed files with 1588 additions and 38091 deletions
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controllers/unitree_guide_controller/README.md
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@ -35,8 +35,4 @@ Required hardware interfaces:
```bash
cd ~/ros2_ws
colcon build --packages-up-to unitree_guide_controller
```
## 3. Run
* [Go2 in mujoco simulation](../../descriptions/unitree/go2_description)
* [Go1/A1 in gazebo simulation](../../descriptions/quadruped_gazebo)
```

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# DeepRobotic Lite3 Description
# DeepRobotics Lite3 Description
This repository contains the urdf model of lite3.
![lite3](../../../.images/lite3.png)
Tested environment:
* Ubuntu 24.04
* ROS2 Jazzy

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cmake_minimum_required(VERSION 3.8)
project(quadruped_gazebo)
find_package(ament_cmake REQUIRED)
install(
DIRECTORY meshes urdf launch config
DESTINATION share/${PROJECT_NAME}/
)
ament_package()

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descriptions/quadruped_gazebo/LICENSE
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descriptions/quadruped_gazebo/README.md
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# Quadruped Gazebo
This package contains the description of the quadruped robot from Unitree Robotics, and the launch file to load them into the gazebo empty world.
Tested environment:
* Ubuntu 24.04
* ROS2 Jazzy
* Gazebo Harmonic
## Build
```bash
cd ~/ros2_ws
colcon build --packages-up-to quadruped_gazebo
```
## 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 quadruped_gazebo visualize.launch.py
```
The default model is a1. To use another robot model, add the following argument:
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch quadruped_gazebo visualize.launch.py robot_type:=go1
```
## Launch the robot in gazebo
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch quadruped_gazebo gazebo.launch.py
```
To use another robot model, add the following argument:
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch quadruped_gazebo gazebo.launch.py robot_type:=go1
```

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import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction
from launch_ros.actions import Node
import xacro
package_description = "quadruped_gazebo"
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, 'urdf', 'robot.xacro')
robot_description_config = xacro.process_file(xacro_file, mappings={'robot_type': robot_type_value})
return robot_description_config.toxml()
def launch_setup(context, *args, **kwargs):
robot_description = process_xacro(context)
return [
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',
)
]
def generate_launch_description():
robot_type_arg = DeclareLaunchArgument(
'robot_type',
default_value='a1',
description='Type of the robot'
)
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
return LaunchDescription([
robot_type_arg,
OpaqueFunction(function=launch_setup),
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
)
])

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descriptions/quadruped_gazebo/package.xml
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>quadruped_gazebo</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="biao876990970@hotmail.com">tlab-uav</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>imu_sensor_broadcaster</exec_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="a1_description">
<!-- Constants for robot dimensions -->
<xacro:property name="stick_mass" value="0.00001"/>
<!-- simplified collision value -->
<xacro:property name="trunk_width" value="0.194"/>
<xacro:property name="trunk_length" value="0.267"/>
<xacro:property name="trunk_height" value="0.114"/>
<xacro:property name="hip_radius" value="0.046"/>
<xacro:property name="hip_length" value="0.04"/>
<xacro:property name="thigh_shoulder_radius" value="0.041"/>
<xacro:property name="thigh_shoulder_length" value="0.04"/>
<xacro:property name="thigh_shoulder_y_offset" value="-0.008"/>
<xacro:property name="thigh_width" value="0.03"/>
<xacro:property name="thigh_height" value="0.034"/>
<xacro:property name="thigh_x_offset" value="-0.015"/>
<xacro:property name="calf_width" value="0.016"/>
<xacro:property name="calf_height" value="0.016"/>
<xacro:property name="calf_x_offset" value="0.0"/>
<xacro:property name="foot_radius" value="0.02"/>
<!-- kinematic value -->
<xacro:property name="thigh_offset" value="0.0838"/>
<xacro:property name="thigh_length" value="0.2"/>
<xacro:property name="calf_length" value="0.2"/>
<!-- leg offset from trunk center value -->
<xacro:property name="leg_offset_x" value="0.1805"/>
<xacro:property name="leg_offset_y" value="0.047"/>
<xacro:property name="trunk_offset_z" value="0.01675"/>
<xacro:property name="hip_offset" value="0.065"/>
<!-- joint limits -->
<xacro:property name="damping" value="0"/>
<xacro:property name="friction" value="0"/>
<xacro:property name="hip_position_max" value="${46*pi/180.0}"/>
<xacro:property name="hip_position_min" value="${-46*pi/180.0}"/>
<xacro:property name="hip_velocity_max" value="21"/>
<xacro:property name="hip_torque_max" value="33.5"/>
<xacro:property name="thigh_position_max" value="${240*pi/180.0}"/>
<xacro:property name="thigh_position_min" value="${-60*pi/180.0}"/>
<xacro:property name="thigh_velocity_max" value="21"/>
<xacro:property name="thigh_torque_max" value="33.5"/>
<xacro:property name="calf_position_max" value="${-52.5*pi/180.0}"/>
<xacro:property name="calf_position_min" value="${-154.5*pi/180.0}"/>
<xacro:property name="calf_velocity_max" value="21"/>
<xacro:property name="calf_torque_max" value="33.5"/>
<!-- dynamics inertial value -->
<!-- trunk -->
<xacro:property name="trunk_mass" value="6.0"/>
<xacro:property name="trunk_com_x" value="0.0000"/>
<xacro:property name="trunk_com_y" value="0.0041"/>
<xacro:property name="trunk_com_z" value="-0.0005"/>
<xacro:property name="trunk_ixx" value="0.0158533"/>
<xacro:property name="trunk_ixy" value="-0.0000366"/>
<xacro:property name="trunk_ixz" value="-0.0000611"/>
<xacro:property name="trunk_iyy" value="0.0377999"/>
<xacro:property name="trunk_iyz" value="-0.0000275"/>
<xacro:property name="trunk_izz" value="0.0456542"/>
<!-- hip (left front) -->
<xacro:property name="hip_mass" value="0.595"/>
<xacro:property name="hip_com_x" value="-0.003875"/>
<xacro:property name="hip_com_y" value="0.001622"/>
<xacro:property name="hip_com_z" value="0.000042"/>
<xacro:property name="hip_ixx" value="0.000402747"/>
<xacro:property name="hip_ixy" value="-0.000008709"/>
<xacro:property name="hip_ixz" value="-0.000000297"/>
<xacro:property name="hip_iyy" value="0.000691123"/>
<xacro:property name="hip_iyz" value="-0.000000545"/>
<xacro:property name="hip_izz" value="0.000487919"/>
<!-- thigh -->
<xacro:property name="thigh_mass" value="0.888"/>
<xacro:property name="thigh_com_x" value="-0.003574"/>
<xacro:property name="thigh_com_y" value="-0.019529"/>
<xacro:property name="thigh_com_z" value="-0.030323"/>
<xacro:property name="thigh_ixx" value="0.005251806"/>
<xacro:property name="thigh_ixy" value="-0.000002168"/>
<xacro:property name="thigh_ixz" value="0.000346889"/>
<xacro:property name="thigh_iyy" value="0.005000475"/>
<xacro:property name="thigh_iyz" value="-0.000028174"/>
<xacro:property name="thigh_izz" value="0.001110200"/>
<!-- calf -->
<xacro:property name="calf_mass" value="0.151"/>
<xacro:property name="calf_com_x" value="0.007105"/>
<xacro:property name="calf_com_y" value="-0.000239"/>
<xacro:property name="calf_com_z" value="-0.096933"/>
<xacro:property name="calf_ixx" value="0.002344758"/>
<xacro:property name="calf_ixy" value="0.0"/>
<xacro:property name="calf_ixz" value="-0.000141275"/>
<xacro:property name="calf_iyy" value="0.002360755"/>
<xacro:property name="calf_iyz" value="0.0"/>
<xacro:property name="calf_izz" value="0.000031158"/>
<!-- foot -->
<xacro:property name="foot_mass" value="0.06"/>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="aliengo_description">
<!-- Constants for robot dimensions -->
<xacro:property name="stick_mass" value="0.00001"/>
<!-- simplified collision value -->
<xacro:property name="trunk_width" value="0.150"/>
<xacro:property name="trunk_length" value="0.647"/>
<xacro:property name="trunk_height" value="0.112"/>
<xacro:property name="hip_radius" value="0.046"/>
<xacro:property name="hip_length" value="0.0418"/>
<xacro:property name="thigh_shoulder_radius" value="0.044"/>
<xacro:property name="thigh_shoulder_length" value="0.03"/>
<xacro:property name="thigh_shoulder_y_offset" value="0.0"/>
<xacro:property name="thigh_width" value="0.0374"/>
<xacro:property name="thigh_height" value="0.043"/>
<xacro:property name="thigh_x_offset" value="-0.015"/>
<xacro:property name="calf_width" value="0.04"/>
<xacro:property name="calf_height" value="0.03"/>
<xacro:property name="calf_x_offset" value="0.008"/>
<xacro:property name="foot_radius" value="0.0265"/>
<!-- kinematic value -->
<xacro:property name="thigh_offset" value="0.0868"/>
<xacro:property name="thigh_length" value="0.25"/>
<xacro:property name="calf_length" value="0.25"/>
<!-- leg offset from trunk center value -->
<xacro:property name="leg_offset_x" value="0.2407"/>
<xacro:property name="leg_offset_y" value="0.051"/>
<xacro:property name="trunk_offset_z" value="0.01675"/>
<xacro:property name="hip_offset" value="0.083"/>
<!-- joint limits -->
<xacro:property name="damping" value="0.05"/>
<xacro:property name="friction" value="0.01"/>
<xacro:property name="hip_position_max" value="${70*pi/180.0}"/>
<xacro:property name="hip_position_min" value="${-70*pi/180.0}"/>
<xacro:property name="hip_velocity_max" value="20"/>
<xacro:property name="hip_torque_max" value="35.278"/>
<xacro:property name="thigh_position_max" value="1e22"/>
<xacro:property name="thigh_position_min" value="-1e22"/>
<xacro:property name="thigh_velocity_max" value="20"/>
<xacro:property name="thigh_torque_max" value="35.278"/>
<xacro:property name="calf_position_max" value="${-37*pi/180.0}"/>
<xacro:property name="calf_position_min" value="${-159*pi/180.0}"/>
<xacro:property name="calf_velocity_max" value="15.89"/>
<xacro:property name="calf_torque_max" value="44.4"/>
<!-- dynamics inertial value total 22.0kg-->
<!-- trunk -->
<xacro:property name="trunk_mass" value="11.041"/>
<xacro:property name="trunk_com_x" value="0.008465"/>
<xacro:property name="trunk_com_y" value="0.004045"/>
<xacro:property name="trunk_com_z" value="-0.000763"/>
<xacro:property name="trunk_ixx" value="0.050874"/>
<xacro:property name="trunk_ixy" value="-0.000451628"/>
<xacro:property name="trunk_ixz" value="0.000487603"/>
<xacro:property name="trunk_iyy" value="0.64036"/>
<xacro:property name="trunk_iyz" value="0.000048356"/>
<xacro:property name="trunk_izz" value="0.65655"/>
<!-- hip (left front) -->
<xacro:property name="hip_mass" value="1.993"/>
<xacro:property name="hip_com_x" value="-0.022191"/>
<xacro:property name="hip_com_y" value="0.015144"/>
<xacro:property name="hip_com_z" value="-0.000015"/>
<xacro:property name="hip_ixx" value="0.002903894"/>
<xacro:property name="hip_ixy" value="-0.000071850"/>
<xacro:property name="hip_ixz" value="-0.000001262"/>
<xacro:property name="hip_iyy" value="0.004907517"/>
<xacro:property name="hip_iyz" value="-0.00000175"/>
<xacro:property name="hip_izz" value="0.005586944"/>
<!-- thigh -->
<xacro:property name="thigh_mass" value="0.639"/>
<xacro:property name="thigh_com_x" value="-0.005607"/>
<xacro:property name="thigh_com_y" value="-0.003877"/>
<xacro:property name="thigh_com_z" value="-0.048199"/>
<xacro:property name="thigh_ixx" value="0.005666803"/>
<xacro:property name="thigh_ixy" value="0.000003597"/>
<xacro:property name="thigh_ixz" value="0.000491446"/>
<xacro:property name="thigh_iyy" value="0.005847229"/>
<xacro:property name="thigh_iyz" value="0.000010086"/>
<xacro:property name="thigh_izz" value="0.000369811"/>
<!-- calf -->
<xacro:property name="calf_mass" value="0.207"/>
<xacro:property name="calf_com_x" value="0.002781"/>
<xacro:property name="calf_com_y" value="0.000063"/>
<xacro:property name="calf_com_z" value="-0.142518"/>
<xacro:property name="calf_ixx" value="0.006341369"/>
<xacro:property name="calf_ixy" value="-0.000000003"/>
<xacro:property name="calf_ixz" value="-0.000087951"/>
<xacro:property name="calf_iyy" value="0.006355157"/>
<xacro:property name="calf_iyz" value="-0.000001336"/>
<xacro:property name="calf_izz" value="0.000039188"/>
<!-- foot -->
<xacro:property name="foot_mass" value="0.06"/>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="imu">
<xacro:macro name="IMU" params="connected_to imu_name xyz:='0 0 0' rpy:='0 0 0' ">
<!-- Imu is fixed to the base link -->
<joint name="${imu_name}_joint" type="fixed">
<origin xyz="${xyz}" rpy="${rpy}"/>
<parent link="${connected_to}"/>
<child link="${imu_name}"/>
</joint>
<!-- Imu link -->
<link name="${imu_name}">
<inertial>
<mass value="0.01"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.015 0.015 0.004"/>
</geometry>
</visual>
<material name="orange">
<color rgba="255 108 10 255"/>
</material>
</link>
<gazebo reference="${imu_name}">
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>1000</update_rate>
<visualize>true</visualize>
<topic>imu</topic>
<imu>
<angular_velocity>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</z>
</angular_velocity>
<linear_acceleration>
<x>
<!-- <noise type="gaussian">-->
<!-- <mean>0.0</mean>-->
<!-- <stddev>1.7e-2</stddev>-->
<!-- <bias_mean>0.1</bias_mean>-->
<!-- <bias_stddev>0.001</bias_stddev>-->
<!-- </noise>-->
</x>
<y>
<!-- <noise type="gaussian">-->
<!-- <mean>0.0</mean>-->
<!-- <stddev>1.7e-2</stddev>-->
<!-- <bias_mean>0.1</bias_mean>-->
<!-- <bias_stddev>0.001</bias_stddev>-->
<!-- </noise>-->
</y>
<z>
<!-- <noise type="gaussian">-->
<!-- <mean>0.0</mean>-->
<!-- <stddev>1.7e-2</stddev>-->
<!-- <bias_mean>0.1</bias_mean>-->
<!-- <bias_stddev>0.001</bias_stddev>-->
<!-- </noise>-->
</z>
</linear_acceleration>
</imu>
</sensor>
</gazebo>
<gazebo reference="${imu_name}_joint">
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
</xacro:macro>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find quadruped_gazebo)/urdf/common/transmission.xacro"/>
<xacro:macro name="leg" params="prefix mesh_path mirror mirror_dae front_hind front_hind_dae *origin">
<joint name="${prefix}_HAA" type="revolute">
<xacro:insert_block name="origin"/>
<parent link="trunk"/>
<child link="${prefix}_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<xacro:if value="${(mirror_dae == True)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_position_min}"
upper="${hip_position_max}"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_position_max}"
upper="${-hip_position_min}"/>
</xacro:if>
</joint>
<link name="${prefix}_hip">
<visual>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="${pi} 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 ${pi} 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="${pi} ${pi} 0" xyz="0 0 0"/>
</xacro:if>
<geometry>
<mesh filename="${mesh_path}/hip.dae"
scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/>-->
</visual>
<collision>
<origin rpy="${pi/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="${hip_length}" radius="${hip_radius}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
<mass value="${hip_mass}"/>
<inertia
ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
izz="${hip_izz}"/>
</inertial>
</link>
<joint name="${prefix}_HFE" type="revolute">
<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
<parent link="${prefix}_hip"/>
<child link="${prefix}_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_position_min}"
upper="${thigh_position_max}"/>
</joint>
<link name="${prefix}_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<xacro:if value="${mirror_dae == True}">
<mesh filename="${mesh_path}/thigh.dae"
scale="1 1 1"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<mesh filename="${mesh_path}/thigh_mirror.dae"
scale="1 1 1"/>
</xacro:if>
</geometry>
<!-- <material name="orange"/>-->
</visual>
<collision>
<origin rpy="0 ${pi/2.0+0.1} 0" xyz="${thigh_x_offset} 0 ${-thigh_length/2.0}"/>
<geometry>
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
</geometry>
</collision>
<collision>
<origin rpy="${pi/2.0} 0 0" xyz="0 ${mirror*thigh_shoulder_y_offset} 0"/>
<geometry>
<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
<mass value="${thigh_mass}"/>
<inertia
ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
izz="${thigh_izz}"/>
</inertial>
</link>
<joint name="${prefix}_KFE" type="revolute">
<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
<parent link="${prefix}_thigh"/>
<child link="${prefix}_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}" upper="${calf_position_max}"/>
</joint>
<link name="${prefix}_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="${mesh_path}/calf.dae"
scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/>-->
</visual>
<collision>
<origin rpy="0 ${pi/2.0} 0" xyz="${calf_x_offset} 0 ${-calf_length/2.0}"/>
<geometry>
<box size="${calf_length} ${calf_width} ${calf_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
<mass value="${calf_mass}"/>
<inertia
ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
iyy="${calf_iyy}" iyz="${calf_iyz}"
izz="${calf_izz}"/>
</inertial>
</link>
<joint name="${prefix}_foot_fixed" type="fixed" dont_collapse="true">
<origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
<parent link="${prefix}_calf"/>
<child link="${prefix}_FOOT"/>
</joint>
<link name="${prefix}_FOOT">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius-0.01}"/>
</geometry>
<!-- <material name="orange"/>-->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius}"/>
</geometry>
</collision>
<inertial>
<mass value="${foot_mass}"/>
<inertia
ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
</inertial>
</link>
<gazebo reference="${prefix}_foot_fixed">
<disableFixedJointLumping>true</disableFixedJointLumping>
<sensor name="${prefix}_foot_end" type="force_torque">
<update_rate>30</update_rate>
</sensor>
</gazebo>
<gazebo reference="${prefix}_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<visual>
<material>
<ambient>.5 .5 .5 1.0</ambient>
<diffuse>.5 .5 .5 1.0</diffuse>
<specular>.5 .5 .5 1.0</specular>
</material>
</visual>
</gazebo>
<gazebo reference="${prefix}_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>0</self_collide>
<visual>
<material>
<ambient>.175 .175 .175 1.0</ambient>
<diffuse>.175 .175 .175 1.0</diffuse>
<specular>.175 .175 .175 1.0</specular>
</material>
</visual>
<kp value="1000000.0"/>
<kd value="100.0"/>
</gazebo>
<gazebo reference="${prefix}_calf">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<visual>
<material>
<ambient>.5 .5 .5 1.0</ambient>
<diffuse>.5 .5 .5 1.0</diffuse>
<specular>.5 .5 .5 1.0</specular>
</material>
</visual>
</gazebo>
<gazebo reference="${prefix}_FOOT">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<visual>
<material>
<ambient>.175 .175 .175 1.0</ambient>
<diffuse>.175 .175 .175 1.0</diffuse>
<specular>.175 .175 .175 1.0</specular>
</material>
</visual>
<kp value="1000000.0"/>
<kd value="100.0"/>
<sensor name='${prefix}_Foot_Contact_Sensor' type='contact'>
<contact>
<collision>${prefix}_FOOT_collision</collision>
</contact>
</sensor>
</gazebo>
<xacro:leg_transmission name="${prefix}"/>
</xacro:macro>
</robot>

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<?xml version="1.0"?>
<robot>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="${233/255} ${233/255} ${216/255} 1.0"/>
</material>
<material name="orange">
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
</material>
<material name="brown">
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- <xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae"> -->
<ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</hardware>
<joint name="RF_HAA">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RF_HFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RF_KFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="LF_HAA">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="LF_HFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="LF_KFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RH_HAA">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RH_HFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RH_KFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="LH_HAA">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="LH_HFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="LH_KFE">
<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>
<sensor name="LF_foot_end">
<state_interface name="force.x"/>
<state_interface name="force.y"/>
<state_interface name="force.z"/>
<param name="frame_id">LF_FOOT</param>
</sensor>
<sensor name="RF_foot_end">
<state_interface name="force.x"/>
<state_interface name="force.y"/>
<state_interface name="force.z"/>
<param name="frame_id">RF_FOOT</param>
</sensor>
<sensor name="LH_foot_end">
<state_interface name="force.x"/>
<state_interface name="force.y"/>
<state_interface name="force.z"/>
<param name="frame_id">LH_FOOT</param>
</sensor>
<sensor name="RH_foot_end">
<state_interface name="force.x"/>
<state_interface name="force.y"/>
<state_interface name="force.z"/>
<param name="frame_id">LH_FOOT</param>
</sensor>
</ros2_control>
<!-- Gazebo's ros2_control plugin -->
<gazebo>
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>$(find quadruped_gazebo)/config/robot_control.yaml</parameters>
</plugin>
<plugin filename="gz-sim-imu-system"
name="gz::sim::systems::Imu">
</plugin>
<plugin filename="gz-sim-contact-system"
name="gz::sim::systems::Contact">
</plugin>
<plugin filename="gz-sim-forcetorque-system"
name="gz::sim::systems::ForceTorque">
</plugin>
</gazebo>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="leg_transmission" params="name">
<transmission name="${prefix}_HAA_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}_HAA">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}_HAA_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}_HFE_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}_HFE">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}_HFE_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}_KFE_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}_KFE">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}_KFE_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Constants for robot dimensions -->
<xacro:property name="PI" value="3.1415926535897931"/>
<!-- simplified collision value -->
<xacro:property name="trunk_width" value="0.0935"/>
<xacro:property name="trunk_length" value="0.3762"/>
<xacro:property name="trunk_height" value="0.114"/>
<xacro:property name="hip_radius" value="0.046"/>
<xacro:property name="hip_length" value="0.04"/>
<xacro:property name="thigh_shoulder_radius" value="0.041"/>
<xacro:property name="thigh_shoulder_length" value="0.032"/>
<xacro:property name="thigh_shoulder_y_offset" value="-0.008"/>
<xacro:property name="thigh_width" value="0.0245"/>
<xacro:property name="thigh_height" value="0.034"/>
<xacro:property name="thigh_x_offset" value="-0.015"/>
<xacro:property name="calf_width" value="0.016"/>
<xacro:property name="calf_height" value="0.016"/>
<xacro:property name="calf_x_offset" value="0.0"/>
<xacro:property name="foot_radius" value="0.02"/>
<!-- kinematic value -->
<xacro:property name="thigh_offset" value="0.08"/>
<xacro:property name="thigh_length" value="0.213"/>
<xacro:property name="calf_length" value="0.213"/>
<!-- leg offset from trunk center value -->
<xacro:property name="leg_offset_x" value="0.1881"/>
<xacro:property name="leg_offset_y" value="0.04675"/>
<!-- <xacro:property name="trunk_offset_z" value="0.01675"/> -->
<xacro:property name="hip_offset" value="0.08"/>
<!-- offset of link and rotor locations (left front) -->
<xacro:property name="hip_offset_x" value="0.1881"/>
<xacro:property name="hip_offset_y" value="0.04675"/>
<xacro:property name="hip_offset_z" value="0.0"/>
<xacro:property name="hip_rotor_offset_x" value="0.11215"/>
<xacro:property name="hip_rotor_offset_y" value="0.04675"/>
<xacro:property name="hip_rotor_offset_z" value="0.0"/>
<xacro:property name="thigh_offset_x" value="0"/>
<xacro:property name="thigh_offset_y" value="0.08"/>
<xacro:property name="thigh_offset_z" value="0.0"/>
<xacro:property name="thigh_rotor_offset_x" value="0.0"/>
<xacro:property name="thigh_rotor_offset_y" value="-0.00015"/>
<xacro:property name="thigh_rotor_offset_z" value="0.0"/>
<xacro:property name="calf_offset_x" value="0.0"/>
<xacro:property name="calf_offset_y" value="0.0"/>
<xacro:property name="calf_offset_z" value="-0.213"/>
<xacro:property name="calf_rotor_offset_x" value="0.0"/>
<xacro:property name="calf_rotor_offset_y" value="-0.03235"/>
<xacro:property name="calf_rotor_offset_z" value="0.0"/>
<!-- joint limits -->
<xacro:property name="damping" value="0.01"/>
<xacro:property name="friction" value="0.2"/>
<xacro:property name="hip_position_max" value="0.863"/>
<xacro:property name="hip_position_min" value="-0.863"/>
<xacro:property name="hip_velocity_max" value="30.1"/>
<xacro:property name="hip_torque_max" value="23.7"/>
<xacro:property name="thigh_position_max" value="4.501"/>
<xacro:property name="thigh_position_min" value="-0.686"/>
<xacro:property name="thigh_velocity_max" value="30.1"/>
<xacro:property name="thigh_torque_max" value="23.7"/>
<xacro:property name="calf_position_max" value="-0.888"/>
<xacro:property name="calf_position_min" value="-2.818"/>
<xacro:property name="calf_velocity_max" value="20.06"/>
<xacro:property name="calf_torque_max" value="35.55"/>
<!-- dynamics inertial value total 12.84kg -->
<!-- trunk -->
<xacro:property name="trunk_mass" value="5.204"/>
<xacro:property name="trunk_com_x" value="0.0223"/>
<xacro:property name="trunk_com_y" value="0.002"/>
<xacro:property name="trunk_com_z" value="-0.0005"/>
<xacro:property name="trunk_ixx" value="0.0168128557"/>
<xacro:property name="trunk_ixy" value="-0.0002296769"/>
<xacro:property name="trunk_ixz" value="-0.0002945293"/>
<xacro:property name="trunk_iyy" value="0.063009565"/>
<xacro:property name="trunk_iyz" value="-0.0000418731"/>
<xacro:property name="trunk_izz" value="0.0716547275"/>
<!-- hip (left front) -->
<xacro:property name="hip_mass" value="0.591"/>
<xacro:property name="hip_com_x" value="-0.005657"/>
<xacro:property name="hip_com_y" value="-0.008752"/>
<xacro:property name="hip_com_z" value="-0.000102"/>
<xacro:property name="hip_ixx" value="0.000334008405"/>
<xacro:property name="hip_ixy" value="-0.000010826066"/>
<xacro:property name="hip_ixz" value="0.000001290732"/>
<xacro:property name="hip_iyy" value="0.000619101213"/>
<xacro:property name="hip_iyz" value="0.000001643194"/>
<xacro:property name="hip_izz" value="0.00040057614"/>
<!-- thigh -->
<xacro:property name="thigh_mass" value="0.92"/>
<xacro:property name="thigh_com_x" value="-0.003342"/>
<xacro:property name="thigh_com_y" value="-0.018054"/>
<xacro:property name="thigh_com_z" value="-0.033451"/>
<xacro:property name="thigh_ixx" value="0.004431760472"/>
<xacro:property name="thigh_ixy" value="0.000057496807"/>
<xacro:property name="thigh_ixz" value="-0.000218457134"/>
<xacro:property name="thigh_iyy" value="0.004485671726"/>
<xacro:property name="thigh_iyz" value="0.000572001265"/>
<xacro:property name="thigh_izz" value="0.000740309489"/>
<!-- calf -->
<xacro:property name="calf_mass" value="0.135862"/>
<xacro:property name="calf_com_x" value="0.006197"/>
<xacro:property name="calf_com_y" value="0.001408"/>
<xacro:property name="calf_com_z" value="-0.116695"/>
<xacro:property name="calf_ixx" value="0.001088793059"/>
<xacro:property name="calf_ixy" value="-0.000000255679"/>
<xacro:property name="calf_ixz" value="0.000007117814"/>
<xacro:property name="calf_iyy" value="0.001100428748"/>
<xacro:property name="calf_iyz" value="0.000002077264"/>
<xacro:property name="calf_izz" value="0.000024787446"/>
<!-- foot -->
<xacro:property name="foot_mass" value="0.06"/>
<gazebo reference="trunk">
<visual name="DarkGrey">
<material>
<ambient>.5 .5 .5 1.0</ambient>
<diffuse>.5 .5 .5 1.0</diffuse>
<specular>.5 .5 .5 1.0</specular>
</material>
</visual>
</gazebo>
</robot>

72
descriptions/quadruped_gazebo/urdf/robot.xacro
View File

@ -1,72 +0,0 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="robot">
<xacro:arg name="robot_type" default="a1"/>
<xacro:include filename="$(find quadruped_gazebo)/urdf/$(arg robot_type)/const.xacro"/>
<xacro:include filename="$(find quadruped_gazebo)/urdf/common/materials.xacro"/>
<xacro:include filename="$(find quadruped_gazebo)/urdf/common/leg.xacro"/>
<xacro:include filename="$(find quadruped_gazebo)/urdf/common/imu.xacro"/>
<xacro:include filename="$(find quadruped_gazebo)/urdf/common/ros2_control.xacro"/>
<xacro:property name="mesh_path" value="file://$(find quadruped_gazebo)/meshes/$(arg robot_type)"/>
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="${mesh_path}/trunk.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
<mass value="${trunk_mass}"/>
<inertia
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
iyy="${trunk_iyy}" iyz="${trunk_iyz}"
izz="${trunk_izz}"/>
</inertial>
</link>
<xacro:IMU connected_to="trunk" imu_name="base_imu" xyz="0. 0. 0." rpy="0. 0. 0."/>
<xacro:leg prefix="LF" mesh_path="${mesh_path}" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
</xacro:leg>
<xacro:leg prefix="LH" mesh_path="${mesh_path}" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
</xacro:leg>
<xacro:leg prefix="RF" mesh_path="${mesh_path}" mirror="-1" mirror_dae="False" front_hind="1" front_hind_dae="True">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:leg>
<xacro:leg prefix="RH" mesh_path="${mesh_path}" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:leg>
</robot>

2
descriptions/unitree/a1_description/README.md
View File

@ -1,7 +1,7 @@
# Unitree A1 Description
This repository contains the urdf model of A1.
![Aliengo](../../../.images/a1.png)
![A1](../../../.images/a1.png)
Tested environment:
* Ubuntu 24.04

17
descriptions/unitree/aliengo_description/README.md
View File

@ -1,26 +1,34 @@
# Unitree AlienGo Description
This repository contains the urdf model of Aliengo.
![Aliengo](../../../.images/aliengo.png)
Tested environment:
* Ubuntu 24.04
* ROS2 Jazzy
## Build
```bash
cd ~/ros2_ws
colcon build --packages-up-to aliengo_description
colcon build --packages-up-to aliengo_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 aliengo_description visualize.launch.py
```
## Launch ROS2 Control
### Mujoco Simulator
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
@ -32,3 +40,10 @@ ros2 launch aliengo_description visualize.launch.py
ros2 launch aliengo_description ocs2_control.launch.py
```
### Gazebo Simulator
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch aliengo_description gazebo_unitree_guide.launch.py
```

99
descriptions/unitree/aliengo_description/config/gazebo.yaml Normal file
View File

@ -0,0 +1,99 @@
# 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_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
command_interfaces:
- effort
state_interfaces:
- position
- velocity
unitree_guide_controller:
ros__parameters:
command_prefix: "leg_pd_controller"
update_rate: 500 # Hz
joints:
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
command_interfaces:
- effort
- position
- velocity
- kp
- kd
state_interfaces:
- effort
- position
- velocity
feet_names:
- FR_foot
- FL_foot
- RR_foot
- RL_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

81
descriptions/quadruped_gazebo/launch/gazebo.launch.py → descriptions/unitree/aliengo_description/launch/gazebo_unitree_guide.launch.py
View File

@ -5,30 +5,32 @@ 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.substitutions import PathJoinSubstitution
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 = "quadruped_gazebo"
package_description = "aliengo_description"
def process_xacro(context):
robot_type_value = context.launch_configurations['robot_type']
def process_xacro():
pkg_path = os.path.join(get_package_share_directory(package_description))
xacro_file = os.path.join(pkg_path, 'urdf', 'robot.xacro')
robot_description_config = xacro.process_file(xacro_file, mappings={'robot_type': robot_type_value})
return (robot_description_config.toxml(), robot_type_value)
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 launch_setup(context, *args, **kwargs):
(robot_description, robot_type) = process_xacro(context)
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',
robot_type, '-allow_renaming', 'true', '-z', '0.5'],
'robot', '-allow_renaming', 'true', '-z', '0.5'],
)
robot_state_publisher = Node(
@ -72,42 +74,14 @@ def launch_setup(context, *args, **kwargs):
arguments=["unitree_guide_controller", "--controller-manager", "/controller_manager"],
)
return [
robot_state_publisher,
gz_spawn_entity,
joint_state_publisher,
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=joint_state_publisher,
on_exit=[imu_sensor_broadcaster],
)
),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=imu_sensor_broadcaster,
on_exit=[leg_pd_controller],
)
),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=leg_pd_controller,
on_exit=[unitree_guide_controller],
)
),
]
def generate_launch_description():
robot_type_arg = DeclareLaunchArgument(
'robot_type',
default_value='a1',
description='Type of the robot'
)
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
return LaunchDescription([
robot_type_arg,
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
),
Node(
package='ros_gz_bridge',
executable='parameter_bridge',
@ -120,12 +94,13 @@ def generate_launch_description():
'launch',
'gz_sim.launch.py'])]),
launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]),
OpaqueFunction(function=launch_setup),
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
)
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],
)
),
])

422
descriptions/unitree/aliengo_description/xacro/gazebo.xacro
View File

@ -1,266 +1,188 @@
<?xml version="1.0"?>
<robot>
<!-- ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/aliengo_gazebo</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Show the trajectory of trunk center. -->
<gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>10</frequency>
<plot>
<link>base</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Yellow</material>
</plot>
</plugin>
</gazebo>
<ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</hardware>
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
<!-- <gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>100</frequency>
<plot>
<link>FL_foot</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Green</material>
</plot>
</plugin>
</gazebo> -->
<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_ros_force.so" name="gazebo_ros_force">
<bodyName>trunk</bodyName>
<topicName>/apply_force/trunk</topicName>
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>$(find aliengo_description)/config/gazebo.yaml</parameters>
</plugin>
<plugin filename="gz-sim-imu-system"
name="gz::sim::systems::Imu">
</plugin>
</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>
<!-- Foot contacts. -->
<gazebo reference="FR_calf">
<sensor name="FR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="FL_calf">
<sensor name="FL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RR_calf">
<sensor name="RR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RL_calf">
<sensor name="RL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<!-- Visualization of Foot contacts. -->
<gazebo reference="FR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="FL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="base">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="trunk">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="stick_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="imu_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Red</material>
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>500</update_rate>
<visualize>true</visualize>
<topic>imu</topic>
<imu>
<angular_velocity>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</z>
</angular_velocity>
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</z>
</linear_acceleration>
</imu>
</sensor>
</gazebo>
<!-- FL leg -->
<gazebo reference="FL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- FR leg -->
<gazebo reference="FR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RL leg -->
<gazebo reference="RL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RR leg -->
<gazebo reference="RR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
<gazebo reference="imu_joint">
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
</robot>

30
descriptions/unitree/aliengo_description/xacro/leg.xacro
View File

@ -67,7 +67,6 @@
<geometry>
<mesh filename="file://$(find aliengo_description)/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/>
@ -130,7 +129,6 @@
<mesh filename="file://$(find aliengo_description)/meshes/thigh_mirror.dae" scale="1 1 1"/>
</xacro:if>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
@ -250,6 +248,34 @@
</inertial>
</link>
<!-- FL leg -->
<gazebo reference="{name}_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<gazebo reference="{name}_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="{name}_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="{name}_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<xacro:leg_transmission name="${name}"/>
</xacro:macro>
</robot>

12
descriptions/unitree/aliengo_description/xacro/robot.xacro
View File

@ -3,12 +3,19 @@
<robot name="aliengo" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="DEBUG" default="false"/>
<xacro:arg name="GAZEBO" default="false"/>
<xacro:include filename="$(find aliengo_description)/xacro/const.xacro"/>
<xacro:include filename="$(find aliengo_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find aliengo_description)/xacro/leg.xacro"/>
<xacro:include filename="$(find aliengo_description)/xacro/ros2_control.xacro"/>
<!-- <xacro:include filename="$(find aliengo_description)/xacro/gazebo.xacro"/>-->
<xacro:if value="$(arg GAZEBO)">
<xacro:include filename="$(find go2_description)/xacro/gazebo.xacro"/>
</xacro:if>
<xacro:unless value="$(arg GAZEBO)">
<xacro:include filename="$(find go2_description)/xacro/ros2_control.xacro"/>
</xacro:unless>
<!-- Rotor related joint and link is only for demonstrate location. -->
<!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
@ -44,7 +51,6 @@
<geometry>
<mesh filename="file://$(find aliengo_description)/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>

15
descriptions/unitree/b2_description/README.md
View File

@ -1,22 +1,29 @@
# Unitree B2 Description
This repository contains the urdf model of b2.
![B2](../../../.images/b2.png)
## Build
```bash
cd ~/ros2_ws
colcon build --packages-up-to b2_description
colcon build --packages-up-to b2_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 b2_description visualize.launch.py
```
## Launch ROS2 Control
### Mujoco Simulator
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
@ -28,4 +35,10 @@ ros2 launch b2_description visualize.launch.py
ros2 launch b2_description ocs2_control.launch.py
```
### Gazebo Simulator
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch b2_description gazebo_unitree_guide.launch.py
```

98
descriptions/unitree/b2_description/config/gazebo.yaml Normal file
View File

@ -0,0 +1,98 @@
# 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_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
command_interfaces:
- effort
state_interfaces:
- position
- velocity
unitree_guide_controller:
ros__parameters:
command_prefix: "leg_pd_controller"
joints:
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
command_interfaces:
- effort
- position
- velocity
- kp
- kd
state_interfaces:
- effort
- position
- velocity
feet_names:
- FR_foot
- FL_foot
- RR_foot
- RL_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

106
descriptions/unitree/b2_description/launch/gazebo_unitree_guide.launch.py Normal file
View File

@ -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 = "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, 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',
'robot', '-allow_renaming', 'true', '-z', '0.68'],
)
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],
)
),
])

69
descriptions/unitree/b2_description/launch/unitree_guide.launch.py
View File

@ -12,16 +12,18 @@ from launch_ros.substitutions import FindPackageShare
package_description = "b2_description"
def process_xacro(context):
robot_type_value = context.launch_configurations['robot_type']
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={'robot_type': robot_type_value})
return (robot_description_config.toxml(), robot_type_value)
robot_description_config = xacro.process_file(xacro_file)
return robot_description_config.toxml()
def launch_setup(context, *args, **kwargs):
(robot_description, robot_type) = process_xacro(context)
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),
@ -30,6 +32,13 @@ def launch_setup(context, *args, **kwargs):
]
)
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',
@ -44,13 +53,6 @@ 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",
@ -71,42 +73,21 @@ def launch_setup(context, *args, **kwargs):
arguments=["unitree_guide_controller", "--controller-manager", "/controller_manager"],
)
return [
robot_state_publisher,
controller_manager,
joint_state_publisher,
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=joint_state_publisher,
on_exit=[imu_sensor_broadcaster],
)
),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=imu_sensor_broadcaster,
on_exit=[unitree_guide_controller],
)
),
]
def generate_launch_description():
robot_type_arg = DeclareLaunchArgument(
'robot_type',
default_value='go2',
description='Type of the robot'
)
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
return LaunchDescription([
robot_type_arg,
OpaqueFunction(function=launch_setup),
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],
)
),
])

44
descriptions/unitree/b2_description/launch/visualize.launch.py
View File

@ -3,23 +3,30 @@ import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction
from launch_ros.actions import Node
import xacro
package_description = "b2_description"
def process_xacro(context):
robot_type_value = context.launch_configurations['robot_type']
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={'robot_type': robot_type_value})
robot_description_config = xacro.process_file(xacro_file)
return robot_description_config.toxml()
def generate_launch_description():
def launch_setup(context, *args, **kwargs):
robot_description = process_xacro(context)
return [
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',
@ -39,27 +46,4 @@ def launch_setup(context, *args, **kwargs):
name='joint_state_publisher',
output='screen',
)
]
def generate_launch_description():
robot_type_arg = DeclareLaunchArgument(
'robot_type',
default_value='go2',
description='Type of the robot'
)
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
return LaunchDescription([
robot_type_arg,
OpaqueFunction(function=launch_setup),
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
)
])

422
descriptions/unitree/b2_description/xacro/gazebo.xacro
View File

@ -1,266 +1,188 @@
<?xml version="1.0"?>
<robot>
<!-- ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/b2_gazebo</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Show the trajectory of trunk center. -->
<gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>10</frequency>
<plot>
<link>base</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Yellow</material>
</plot>
</plugin>
</gazebo>
<ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</hardware>
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
<!-- <gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>100</frequency>
<plot>
<link>FL_foot</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Green</material>
</plot>
</plugin>
</gazebo> -->
<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_ros_force.so" name="gazebo_ros_force">
<bodyName>trunk</bodyName>
<topicName>/apply_force/trunk</topicName>
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>$(find b2_description)/config/gazebo.yaml</parameters>
</plugin>
<plugin filename="gz-sim-imu-system"
name="gz::sim::systems::Imu">
</plugin>
</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>
<!-- Foot contacts. -->
<gazebo reference="FR_calf">
<sensor name="FR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="FL_calf">
<sensor name="FL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RR_calf">
<sensor name="RR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RL_calf">
<sensor name="RL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<!-- Visualization of Foot contacts. -->
<!-- <gazebo reference="FR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="FL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RL_foot_contact</topicName>
</plugin>
</visual>
</gazebo> -->
<gazebo reference="base">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="trunk">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="stick_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="imu_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Red</material>
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>500</update_rate>
<visualize>true</visualize>
<topic>imu</topic>
<imu>
<angular_velocity>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</z>
</angular_velocity>
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</z>
</linear_acceleration>
</imu>
</sensor>
</gazebo>
<!-- FL leg -->
<gazebo reference="FL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<!-- <material>Gazebo/DarkGrey</material> -->
</gazebo>
<gazebo reference="FL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<!-- <material>Gazebo/DarkGrey</material> -->
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<!-- <material>Gazebo/DarkGrey</material> -->
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- FR leg -->
<gazebo reference="FR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<!-- <material>Gazebo/DarkGrey</material> -->
</gazebo>
<gazebo reference="FR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<!-- <material>Gazebo/DarkGrey</material> -->
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<!-- <material>Gazebo/DarkGrey</material> -->
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RL leg -->
<gazebo reference="RL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<!-- <material>Gazebo/DarkGrey</material> -->
</gazebo>
<gazebo reference="RL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<!-- <material>Gazebo/DarkGrey</material> -->
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<!-- <material>Gazebo/DarkGrey</material> -->
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RR leg -->
<gazebo reference="RR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<!-- <material>Gazebo/DarkGrey</material> -->
</gazebo>
<gazebo reference="RR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<!-- <material>Gazebo/DarkGrey</material> -->
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<!-- <material>Gazebo/DarkGrey</material> -->
<kp value="1000000.0"/>
<kd value="1.0"/>
<gazebo reference="imu_joint">
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
</robot>

11
descriptions/unitree/b2_description/xacro/leg.xacro
View File

@ -65,9 +65,8 @@
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<geometry>
<mesh filename="package://b2_description/meshes/hip.dae" scale="1 1 1"/>
<mesh filename="file://$(find b2_description)/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/>
@ -124,13 +123,12 @@
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<xacro:if value="${mirror_dae == True}">
<mesh filename="package://b2_description/meshes/thigh.dae" scale="1 1 1"/>
<mesh filename="file://$(find b2_description)/meshes/thigh.dae" scale="1 1 1"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<mesh filename="package://b2_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
<mesh filename="file://$(find b2_description)/meshes/thigh_mirror.dae" scale="1 1 1"/>
</xacro:if>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="-0.025 0 ${-thigh_length/2.0}"/>
@ -186,9 +184,8 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b2_description/meshes/calf.dae" scale="1 1 1"/>
<mesh filename="file://$(find b2_description)/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.2 0" xyz="-0.002 0 -0.03"/>

12
descriptions/unitree/b2_description/xacro/robot.xacro
View File

@ -3,11 +3,19 @@
<robot name="b2_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="DEBUG" default="false"/>
<xacro:arg name="GAZEBO" default="false"/>
<xacro:include filename="$(find b2_description)/xacro/const.xacro"/>
<xacro:include filename="$(find b2_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find b2_description)/xacro/leg.xacro"/>
<xacro:include filename="$(find b2_description)/xacro/ros2_control.xacro"/>
<xacro:if value="$(arg GAZEBO)">
<xacro:include filename="$(find b2_description)/xacro/gazebo.xacro"/>
</xacro:if>
<xacro:unless value="$(arg GAZEBO)">
<xacro:include filename="$(find b2_description)/xacro/ros2_control.xacro"/>
</xacro:unless>
<!-- Rotor related joint and link is only for demonstrate location. -->
<!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
@ -41,7 +49,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b2_description/meshes/trunk.dae" scale="1 1 1"/>
<mesh filename="file://$(find b2_description)/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>

15
descriptions/unitree/go1_description/README.md
View File

@ -1,22 +1,29 @@
# Unitree Go1 Description
This repository contains the urdf model of go1.
![go1](../../../.images/go1.png)
## Build
```bash
cd ~/ros2_ws
colcon build --packages-up-to go1_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 go1_description visualize.launch.py
```
## Launch ROS2 Control
### Mujoco Simulator
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
@ -27,3 +34,11 @@ ros2 launch go1_description visualize.launch.py
source ~/ros2_ws/install/setup.bash
ros2 launch go1_description ocs2_control.launch.py
```
### Gazebo Simulator
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch go1_description gazebo_unitree_guide.launch.py
```

98
descriptions/unitree/go1_description/config/gazebo.yaml Normal file
View File

@ -0,0 +1,98 @@
# 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_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
command_interfaces:
- effort
state_interfaces:
- position
- velocity
unitree_guide_controller:
ros__parameters:
command_prefix: "leg_pd_controller"
joints:
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
command_interfaces:
- effort
- position
- velocity
- kp
- kd
state_interfaces:
- effort
- position
- velocity
feet_names:
- FR_foot
- FL_foot
- RR_foot
- RL_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

106
descriptions/unitree/go1_description/launch/gazebo_unitree_guide.launch.py Normal file
View File

@ -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 = "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, 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',
'go2', '-allow_renaming', 'true', '-z', '0.5'],
)
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],
)
),
])

71
descriptions/unitree/go1_description/launch/unitree_guide.launch.py
View File

@ -12,16 +12,18 @@ from launch_ros.substitutions import FindPackageShare
package_description = "go1_description"
def process_xacro(context):
robot_type_value = context.launch_configurations['robot_type']
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={'robot_type': robot_type_value})
return (robot_description_config.toxml(), robot_type_value)
robot_description_config = xacro.process_file(xacro_file)
return robot_description_config.toxml()
def launch_setup(context, *args, **kwargs):
(robot_description, robot_type) = process_xacro(context)
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),
@ -30,6 +32,13 @@ def launch_setup(context, *args, **kwargs):
]
)
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',
@ -44,16 +53,6 @@ def launch_setup(context, *args, **kwargs):
],
)
controller_manager = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_controllers],
remappings=[
("~/robot_description", "/robot_description"),
],
output="both",
)
joint_state_publisher = Node(
package="controller_manager",
executable="spawner",
@ -74,41 +73,21 @@ def launch_setup(context, *args, **kwargs):
arguments=["unitree_guide_controller", "--controller-manager", "/controller_manager"],
)
return [
robot_state_publisher,
controller_manager,
joint_state_publisher,
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=joint_state_publisher,
on_exit=[imu_sensor_broadcaster],
)
),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=imu_sensor_broadcaster,
on_exit=[unitree_guide_controller],
)
),
]
def generate_launch_description():
robot_type_arg = DeclareLaunchArgument(
'robot_type',
default_value='go1',
description='Type of the robot'
)
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
return LaunchDescription([
robot_type_arg,
OpaqueFunction(function=launch_setup),
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],
)
),
])

44
descriptions/unitree/go1_description/launch/visualize.launch.py
View File

@ -3,23 +3,30 @@ import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction
from launch_ros.actions import Node
import xacro
package_description = "go1_description"
def process_xacro(context):
robot_type_value = context.launch_configurations['robot_type']
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={'robot_type': robot_type_value})
robot_description_config = xacro.process_file(xacro_file)
return robot_description_config.toxml()
def generate_launch_description():
def launch_setup(context, *args, **kwargs):
robot_description = process_xacro(context)
return [
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',
@ -39,27 +46,4 @@ def launch_setup(context, *args, **kwargs):
name='joint_state_publisher',
output='screen',
)
]
def generate_launch_description():
robot_type_arg = DeclareLaunchArgument(
'robot_type',
default_value='go1',
description='Type of the robot'
)
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
return LaunchDescription([
robot_type_arg,
OpaqueFunction(function=launch_setup),
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
)
])

86
descriptions/unitree/go1_description/xacro/depthCamera.xacro
View File

@ -39,49 +39,49 @@
<link name="camera_optical_${name}">
</link>
<gazebo reference="camera_${name}">
<!-- <material>Gazebo/Black</material> -->
<sensor name="camera_${name}_camera" type="depth">
<update_rate>16</update_rate>
<camera>
<horizontal_fov>2.094</horizontal_fov>
<image>
<width>928</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.1</near>
<far>5</far>
</clip>
</camera>
<plugin name="camera_${name}_controller" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.025</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>camera_${name}_ir</cameraName>
<imageTopicName>/camera_${name}/color/image_raw</imageTopicName>
<cameraInfoTopicName>/camera_${name}/color/camera_info</cameraInfoTopicName>
<depthImageTopicName>/camera_${name}/depth/image_raw</depthImageTopicName>
<depthImageInfoTopicName>/camera_${name}/depth/camera_info</depthImageInfoTopicName>
<!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
<pointCloudTopicName>/cam${camID}/point_cloud_${name}</pointCloudTopicName>
<frameName>camera_optical_${name}</frameName>
<pointCloudCutoff>0.1</pointCloudCutoff>
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0.0045</Cx>
<Cy>0.0039</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
</gazebo>
<!-- <gazebo reference="camera_${name}">-->
<!-- &lt;!&ndash; <material>Gazebo/Black</material> &ndash;&gt;-->
<!-- <sensor name="camera_${name}_camera" type="depth">-->
<!-- <update_rate>16</update_rate>-->
<!-- <camera>-->
<!-- <horizontal_fov>2.094</horizontal_fov>-->
<!-- <image>-->
<!-- <width>928</width>-->
<!-- <height>800</height>-->
<!-- <format>R8G8B8</format>-->
<!-- </image>-->
<!-- <clip>-->
<!-- <near>0.1</near>-->
<!-- <far>5</far>-->
<!-- </clip>-->
<!-- </camera>-->
<!-- <plugin name="camera_${name}_controller" filename="libgazebo_ros_openni_kinect.so">-->
<!-- <baseline>0.025</baseline>-->
<!-- <alwaysOn>true</alwaysOn>-->
<!-- <updateRate>0.0</updateRate>-->
<!-- <cameraName>camera_${name}_ir</cameraName>-->
<!-- <imageTopicName>/camera_${name}/color/image_raw</imageTopicName>-->
<!-- <cameraInfoTopicName>/camera_${name}/color/camera_info</cameraInfoTopicName>-->
<!-- <depthImageTopicName>/camera_${name}/depth/image_raw</depthImageTopicName>-->
<!-- <depthImageInfoTopicName>/camera_${name}/depth/camera_info</depthImageInfoTopicName>-->
<!-- &lt;!&ndash; <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> &ndash;&gt;-->
<!-- <pointCloudTopicName>/cam${camID}/point_cloud_${name}</pointCloudTopicName>-->
<!-- <frameName>camera_optical_${name}</frameName>-->
<!-- <pointCloudCutoff>0.1</pointCloudCutoff>-->
<!-- <pointCloudCutoffMax>1.5</pointCloudCutoffMax>-->
<!-- <distortionK1>0.0</distortionK1>-->
<!-- <distortionK2>0.0</distortionK2>-->
<!-- <distortionK3>0.0</distortionK3>-->
<!-- <distortionT1>0.0</distortionT1>-->
<!-- <distortionT2>0.0</distortionT2>-->
<!-- <CxPrime>0</CxPrime>-->
<!-- <Cx>0.0045</Cx>-->
<!-- <Cy>0.0039</Cy>-->
<!-- <focalLength>0</focalLength>-->
<!-- <hackBaseline>0</hackBaseline>-->
<!-- </plugin>-->
<!-- </sensor>-->
<!-- </gazebo>-->
</xacro:macro>
</robot>

545
descriptions/unitree/go1_description/xacro/gazebo.xacro
View File

@ -1,385 +1,188 @@
<?xml version="1.0"?>
<robot>
<!-- ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/go1_gazebo</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Show the trajectory of trunk center. -->
<gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>10</frequency>
<plot>
<link>base</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Yellow</material>
</plot>
</plugin>
</gazebo>
<ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</hardware>
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
<!-- <gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>100</frequency>
<plot>
<link>FL_foot</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Green</material>
</plot>
</plugin>
</gazebo> -->
<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>
<gazebo>
<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
<bodyName>trunk</bodyName>
<topicName>/apply_force/trunk</topicName>
</plugin>
</gazebo>
<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>
<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>
<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>
<!-- Depth camera -->
<!-- <gazebo>
<plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.025</baseline>
<always_on>true</always_on>
<updateRate>0.0</updateRate>
<cameraName>unitree_camera_left</cameraName>
<frameName>depthCamera_link_left</frameName>
<imageTopicName>rgb/imageRaw_left</imageTopicName>
<depthImageTopicName>depth/imageRaw_left</depthImageTopicName>
<pointCloudTopicName>depth/points_left</pointCloudTopicName>
<cameraInfoTopicName>rgb/cameraInfo_left</cameraInfoTopicName>
<depthImageCameraInfoTopicName>depth/cameraInfo_left</depthImageCameraInfoTopicName>
<pointCloudCutoff>0.1</pointCloudCutoff>
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0.0</CxPrime>
<Cx>0.0045</Cx>
<Cy>0.0039</Cy>
<focalLength>0.004</focalLength>
<hackBaseline>0.0</hackBaseline>
</plugin>
</gazebo> -->
<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>
<!-- <gazebo reference="depthCamera_link_left">
<sensor name="unitree_camera_left" type="depth_camera">
<update_rate>16</update_rate>
<always_on>true</always_on>
<visualize>true</visualize>
<camera>
<horizontal_fov>2.094</horizontal_fov>
<image>
<width>928</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<depth_camera></depth_camera>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.025</baseline>
<always_on>true</always_on>
<updateRate>0.0</updateRate>
<cameraName>unitree_camera_left</cameraName>
<frameName>depthCamera_link_left</frameName>
<imageTopicName>rgb/imageRaw_left</imageTopicName>
<depthImageTopicName>depth/imageRaw_left</depthImageTopicName>
<pointCloudTopicName>depth/points_left</pointCloudTopicName>
<cameraInfoTopicName>rgb/cameraInfo_left</cameraInfoTopicName>
<depthImageCameraInfoTopicName>depth/cameraInfo_left</depthImageCameraInfoTopicName>
<pointCloudCutoff>0.1</pointCloudCutoff>
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0.0</CxPrime>
<Cx>0.0045</Cx>
<Cy>0.0039</Cy>
<focalLength>0.004</focalLength>
<hackBaseline>0.0</hackBaseline>
</plugin>
</sensor>
</gazebo> -->
<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>
<gazebo reference="depthCamera_link_left">
<sensor name="camera_link_camera" type="depth">
<update_rate>20</update_rate>
<camera>
<horizontal_fov>1.047198</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>3</far>
</clip>
</camera>
<plugin name="camera_link_controller" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.2</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>1.0</updateRate>
<cameraName>camera_link_ir</cameraName>
<imageTopicName>/camera_link/color/image_raw</imageTopicName>
<cameraInfoTopicName>/camera_link/color/camera_info</cameraInfoTopicName>
<depthImageTopicName>/camera_link/depth/image_raw</depthImageTopicName>
<depthImageInfoTopicName>/camera_link/depth/camera_info</depthImageInfoTopicName>
<pointCloudTopicName>/camera_link/depth/points</pointCloudTopicName>
<frameName>depthCamera_link_left</frameName>
<pointCloudCutoff>0.5</pointCloudCutoff>
<pointCloudCutoffMax>3.0</pointCloudCutoffMax>
<distortionK1>0.00000001</distortionK1>
<distortionK2>0.00000001</distortionK2>
<distortionK3>0.00000001</distortionK3>
<distortionT1>0.00000001</distortionT1>
<distortionT2>0.00000001</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0</Cx>
<Cy>0</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
<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="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>$(find go1_description)/config/gazebo.yaml</parameters>
</plugin>
<plugin filename="gz-sim-imu-system"
name="gz::sim::systems::Imu">
</plugin>
</gazebo>
<gazebo reference="trunk">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
</gazebo>
<!-- Foot contacts. -->
<gazebo reference="FR_calf">
<sensor name="FR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="FL_calf">
<sensor name="FL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RR_calf">
<sensor name="RR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RL_calf">
<sensor name="RL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<!-- Visualization of Foot contacts. -->
<gazebo reference="FR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="FL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="base">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="trunk">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="stick_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="imu_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Red</material>
</gazebo>
<!-- FL leg -->
<gazebo reference="FL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- FR leg -->
<gazebo reference="FR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RL leg -->
<gazebo reference="RL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RR leg -->
<gazebo reference="RR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="imu_link">
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>500</update_rate>
<visualize>true</visualize>
<topic>imu</topic>
<imu>
<angular_velocity>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</z>
</angular_velocity>
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</z>
</linear_acceleration>
</imu>
</sensor>
</gazebo>
<gazebo reference="imu_joint">
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
</robot>

33
descriptions/unitree/go1_description/xacro/leg.xacro
View File

@ -67,7 +67,7 @@
<geometry>
<mesh filename="file://$(find go1_description)/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
<material name="deep-grey"/>
</visual>
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/>
@ -91,7 +91,6 @@
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
<material name="green"/>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="${hip_rotor_com_x} ${hip_rotor_com_y} ${hip_rotor_com_z}"/>
@ -130,6 +129,7 @@
<mesh filename="file://$(find go1_description)/meshes/thigh_mirror.dae" scale="1 1 1"/>
</xacro:if>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
@ -153,7 +153,6 @@
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
<material name="green"/>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="${thigh_rotor_com_x} ${thigh_rotor_com_y} ${thigh_rotor_com_z}"/>
@ -187,6 +186,7 @@
<geometry>
<mesh filename="file://$(find go1_description)/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="light-grey"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
@ -249,6 +249,33 @@
</inertial>
</link>
<gazebo reference="{name}_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<gazebo reference="{name}_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="{name}_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="{name}_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<xacro:leg_transmission name="${name}"/>
</xacro:macro>
</robot>

8
descriptions/unitree/go1_description/xacro/materials.xacro
View File

@ -13,10 +13,18 @@
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="deep-grey">
<color rgba="0.1 0.1 0.1 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="light-grey">
<color rgba="0.35 0.35 0.35 1.0"/>
</material>
<material name="silver">
<color rgba="${233/255} ${233/255} ${216/255} 1.0"/>
</material>

14
descriptions/unitree/go1_description/xacro/robot.xacro
View File

@ -3,15 +3,23 @@
<robot name="go1" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="DEBUG" default="false"/>
<xacro:arg name="GAZEBO" default="false"/>
<xacro:include filename="$(find go1_description)/xacro/const.xacro"/>
<xacro:include filename="$(find go1_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find go1_description)/xacro/leg.xacro"/>
<xacro:include filename="$(find go1_description)/xacro/ros2_control.xacro"/>
<!-- <xacro:include filename="$(find go1_description)/xacro/gazebo.xacro"/>-->
<xacro:include filename="$(find go1_description)/xacro/depthCamera.xacro"/>
<xacro:include filename="$(find go1_description)/xacro/ultraSound.xacro"/>
<xacro:if value="$(arg GAZEBO)">
<xacro:include filename="$(find go1_description)/xacro/gazebo.xacro"/>
</xacro:if>
<xacro:unless value="$(arg GAZEBO)">
<xacro:include filename="$(find go1_description)/xacro/ros2_control.xacro"/>
</xacro:unless>
<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
<!-- Rotor related joint and link is only for demonstrate location. -->
@ -48,7 +56,7 @@
<geometry>
<mesh filename="file://$(find go1_description)/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
<material name="light-grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>

24
descriptions/unitree/go2_description/README.md
View File

@ -1,29 +1,36 @@
# Unitree Go2 Description
This repository contains the urdf model of go2.
![go2](../../../.images/go2.png)
Tested environment:
* Ubuntu 24.04
* ROS2 Jazzy
* ROS2 Jazzy
* Ubuntu 22.04
* ROS2 Humble
* ROS2 Humble
## Build
```bash
cd ~/ros2_ws
colcon build --packages-up-to go2_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 go2_description visualize.launch.py
```
## Launch ROS2 Control
### Mujoco Simulator
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
@ -39,8 +46,9 @@ ros2 launch go2_description visualize.launch.py
source ~/ros2_ws/install/setup.bash
ros2 launch go2_description rl_control.launch.py
```
### Gazebo Simulator
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
@ -51,16 +59,18 @@ ros2 launch go2_description visualize.launch.py
source ~/ros2_ws/install/setup.bash
ros2 launch go2_description gazebo_rl_control.launch.py
```
## When used for isaac gym or other similiar engine
## When used for isaac gym or other similiar engine
Collision parameters in urdf can be amended to better train the robot:
Open "go2_description.urdf" in "./go2_description/urdf",
and amend the ` box size="0.213 0.0245 0.034" ` in links of "FL_thigh", "FR_thigh", "RL_thigh", "RR_thigh".
For example, change previous values to ` box size="0.11 0.0245 0.034" ` means the length of the thigh is shortened from 0.213 to 0.11, which can avoid unnecessary collision between the thigh link and the calf link.
For example, change previous values to ` box size="0.11 0.0245 0.034" ` means the length of the thigh is shortened from
0.213 to 0.11, which can avoid unnecessary collision between the thigh link and the calf link.
The collision model before and after the above amendment are shown as "Normal_collision_model.png" and "Amended_collision_model.png" respectively.
The collision model before and after the above amendment are shown as "Normal_collision_model.png" and "
Amended_collision_model.png" respectively.

2
descriptions/unitree/go2_description/launch/gazebo_rl_control.launch.py
View File

@ -29,7 +29,7 @@ def generate_launch_description():
executable='create',
output='screen',
arguments=['-topic', 'robot_description', '-name',
'go2', '-allow_renaming', 'true', '-z', '0.4'],
'robot', '-allow_renaming', 'true', '-z', '0.4'],
)
robot_state_publisher = Node(

2
descriptions/unitree/go2_description/launch/gazebo_unitree_guide.launch.py
View File

@ -30,7 +30,7 @@ def generate_launch_description():
executable='create',
output='screen',
arguments=['-topic', 'robot_description', '-name',
'go2', '-allow_renaming', 'true', '-z', '0.5'],
'robot', '-allow_renaming', 'true', '-z', '0.5'],
)
robot_state_publisher = Node(

27
descriptions/xiaomi/cyberdog_description/README.md
View File

@ -1,27 +1,30 @@
# Xiaomi Cyberdog Description
This package contains the URDF description of the Xiaomi Cyberdog robot from [Cyberdog Simulator](https://github.com/MiRoboticsLab/cyberdog_simulator.git).
This package contains the URDF description of the Xiaomi Cyberdog robot
from [Cyberdog Simulator](https://github.com/MiRoboticsLab/cyberdog_simulator.git).
![cyberdog](../../../.images/cyberdog.png)
## Build
```bash
cd ~/ros2_ws
colcon build --packages-up-to cyberdog_description
colcon build --packages-up-to cyberdog_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 cyberdog_description visualize.launch.py
```
## Launch the robot in gazebo
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch cyberdog_description gazebo.launch.py
```
## Launch ROS2 Control
### Mujoco Simulator
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
@ -32,3 +35,11 @@ ros2 launch cyberdog_description gazebo.launch.py
source ~/ros2_ws/install/setup.bash
ros2 launch cyberdog_description ocs2_control.launch.py
```
### Gazebo Simulator
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch cyberdog_description gazebo_unitree_guide.launch.py
```

348
descriptions/xiaomi/cyberdog_description/config/cyberdog.rviz
View File

@ -1,348 +0,0 @@
Panels:
- Class: rviz_common/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Grid1
- /RobotModel1
Splitter Ratio: 0.5558823347091675
Tree Height: 462
- 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: <Fixed 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:
AI_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
All Links Enabled: true
D435_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
FL_abad:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_abad_rotor:
Alpha: 1
Show Axes: false
Show Trail: 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_hip_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
FL_hip_shoulder:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_knee:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_knee_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
FR_abad:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_abad_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
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
FR_hip_shoulder:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_knee:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_knee_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
Link Tree Style: Links in Alphabetic Order
RGB_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_abad:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_abad_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
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
RL_hip_shoulder:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_knee:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_knee_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
RR_abad:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_abad_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
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
RR_hip_shoulder:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_knee:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_knee_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
body:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head:
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
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: base_link
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: 1.1026314496994019
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.33039766550064087
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.6804034113883972
Saved: ~
Window Geometry:
Displays:
collapsed: true
Height: 659
Hide Left Dock: true
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000001560000025cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003f0000025c000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000025cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003f0000025c000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003620000003efc0100000002fb0000000800540069006d00650100000000000003620000026f00fffffffb0000000800540069006d0065010000000000000450000000000000000000000362000001f100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 866
X: 618
Y: 136

61
descriptions/quadruped_gazebo/config/robot_control.yaml → descriptions/xiaomi/cyberdog_description/config/gazebo.yaml
View File

@ -1,7 +1,7 @@
# Controller Manager configuration
controller_manager:
ros__parameters:
update_rate: 500 # Hz
update_rate: 2000 # Hz
# Define the available controllers
joint_state_broadcaster:
@ -19,23 +19,23 @@ controller_manager:
imu_sensor_broadcaster:
ros__parameters:
sensor_name: "imu_sensor"
frame_id: "imu_sensor"
frame_id: "imu_link"
leg_pd_controller:
ros__parameters:
joints:
- RF_HAA
- RF_HFE
- RF_KFE
- LF_HAA
- LF_HFE
- LF_KFE
- RH_HAA
- RH_HFE
- RH_KFE
- LH_HAA
- LH_HFE
- LH_KFE
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
command_interfaces:
- effort
@ -47,19 +47,20 @@ leg_pd_controller:
unitree_guide_controller:
ros__parameters:
command_prefix: "leg_pd_controller"
update_rate: 500 # Hz
joints:
- RF_HAA
- RF_HFE
- RF_KFE
- LF_HAA
- LF_HFE
- LF_KFE
- RH_HAA
- RH_HFE
- RH_KFE
- LH_HAA
- LH_HFE
- LH_KFE
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
command_interfaces:
- effort
@ -74,10 +75,10 @@ unitree_guide_controller:
- velocity
feet_names:
- RF_FOOT
- LF_FOOT
- RH_FOOT
- LH_FOOT
- FR_foot
- FL_foot
- RR_foot
- RL_foot
imu_name: "imu_sensor"
base_name: "base"

71
descriptions/quadruped_gazebo/config/visualize_urdf.rviz → descriptions/xiaomi/cyberdog_description/config/visualize_urdf.rviz
View File

@ -6,9 +6,7 @@ Panels:
Expanded:
- /Global Options1
- /Status1
- /Grid1
- /RobotModel1
- /RobotModel1/Description Topic1
Splitter Ratio: 0.5
Tree Height: 301
- Class: rviz_common/Selection
@ -67,83 +65,83 @@ Visualization Manager:
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
LF_FOOT:
FL_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_calf:
FL_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_hip:
FL_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_thigh:
FL_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_FOOT:
FR_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_calf:
FR_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_hip:
FR_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_thigh:
FR_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
RF_FOOT:
RL_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_calf:
RL_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_hip:
RL_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_thigh:
RL_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_FOOT:
RR_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_calf:
RR_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_hip:
RR_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_thigh:
RR_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
@ -153,7 +151,12 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
base_imu:
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
trunk:
Alpha: 1
Show Axes: false
Show Trail: false
@ -212,33 +215,33 @@ Visualization Manager:
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 0.8259328603744507
Distance: 0.9871627688407898
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.1556335836648941
Y: 0.05531633272767067
Z: -0.12701848149299622
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: 0.3203984200954437
Pitch: 0.5053979158401489
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.7753980159759521
Yaw: 0.8203961253166199
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 555
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001f40000031bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007300000000700000031b000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015d0000031bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000700000031b000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002e50000005efc0100000002fb0000000800540069006d00650100000000000002e50000026f00fffffffb0000000800540069006d00650100000000000004500000000000000000000002e50000016900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
collapsed: true
Height: 593
Hide Left Dock: true
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000001f40000043cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007300000000700000043c000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015d0000043cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000700000043c000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002720000005efc0100000002fb0000000800540069006d00650100000000000002720000026f00fffffffb0000000800540069006d00650100000000000004500000000000000000000002720000018f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@ -246,7 +249,7 @@ Window Geometry:
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 741
X: 773
Y: 267
collapsed: true
Width: 626
X: 635
Y: 1328

77
descriptions/xiaomi/cyberdog_description/launch/gazebo.launch.py → descriptions/xiaomi/cyberdog_description/launch/gazebo_unitree_guide.launch.py
View File

@ -5,30 +5,32 @@ 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.substitutions import PathJoinSubstitution
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(context):
robot_type_value = context.launch_configurations['robot_type']
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={'robot_type': robot_type_value})
return (robot_description_config.toxml(), robot_type_value)
robot_description_config = xacro.process_file(xacro_file, mappings={'GAZEBO': 'true'})
return robot_description_config.toxml()
def launch_setup(context, *args, **kwargs):
(robot_description, robot_type) = process_xacro(context)
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',
robot_type, '-allow_renaming', 'true', '-z', '0.5'],
'robot', '-allow_renaming', 'true', '-z', '0.46'],
)
robot_state_publisher = Node(
@ -72,42 +74,14 @@ def launch_setup(context, *args, **kwargs):
arguments=["unitree_guide_controller", "--controller-manager", "/controller_manager"],
)
return [
robot_state_publisher,
gz_spawn_entity,
joint_state_publisher,
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=joint_state_publisher,
on_exit=[imu_sensor_broadcaster],
)
),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=imu_sensor_broadcaster,
on_exit=[leg_pd_controller],
)
),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=leg_pd_controller,
on_exit=[unitree_guide_controller],
)
),
]
def generate_launch_description():
robot_type_arg = DeclareLaunchArgument(
'robot_type',
default_value='cyber_dog',
description='Type of the robot'
)
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "cyberdog.rviz")
return LaunchDescription([
robot_type_arg,
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
),
Node(
package='ros_gz_bridge',
executable='parameter_bridge',
@ -120,12 +94,13 @@ def generate_launch_description():
'launch',
'gz_sim.launch.py'])]),
launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]),
OpaqueFunction(function=launch_setup),
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
)
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],
)
),
])

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

@ -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 = "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],
)
),
])

44
descriptions/xiaomi/cyberdog_description/launch/visualize.launch.py
View File

@ -3,23 +3,30 @@ import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction
from launch_ros.actions import Node
import xacro
package_description = "cyberdog_description"
def process_xacro(context):
robot_type_value = context.launch_configurations['robot_type']
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={'robot_type': robot_type_value})
robot_description_config = xacro.process_file(xacro_file)
return robot_description_config.toxml()
def generate_launch_description():
def launch_setup(context, *args, **kwargs):
robot_description = process_xacro(context)
return [
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',
@ -39,27 +46,4 @@ def launch_setup(context, *args, **kwargs):
name='joint_state_publisher',
output='screen',
)
]
def generate_launch_description():
robot_type_arg = DeclareLaunchArgument(
'robot_type',
default_value='go1',
description='Type of the robot'
)
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "cyberdog.rviz")
return LaunchDescription([
robot_type_arg,
OpaqueFunction(function=launch_setup),
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
)
])

30
descriptions/xiaomi/cyberdog_description/xacro/gazebo.xacro
View File

@ -6,13 +6,6 @@
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</hardware>
<joint name="FR_abad_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_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
@ -20,14 +13,14 @@
<state_interface name="effort"/>
</joint>
<joint name="FR_knee_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="FL_abad_joint">
<joint name="FR_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
@ -41,14 +34,14 @@
<state_interface name="effort"/>
</joint>
<joint name="FL_knee_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="RR_abad_joint">
<joint name="FL_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
@ -62,14 +55,14 @@
<state_interface name="effort"/>
</joint>
<joint name="RR_knee_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="RL_abad_joint">
<joint name="RR_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
@ -83,7 +76,14 @@
<state_interface name="effort"/>
</joint>
<joint name="RL_knee_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"/>
@ -132,7 +132,7 @@
<!-- Gazebo's ros2_control plugin -->
<gazebo>
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>$(find cyberdog_description)/config/robot_control.yaml</parameters>
<parameters>$(find cyberdog_description)/config/gazebo.yaml</parameters>
</plugin>
<plugin filename="gz-sim-imu-system"
name="gz::sim::systems::Imu">

12
descriptions/xiaomi/cyberdog_description/xacro/robot.xacro
View File

@ -3,10 +3,18 @@
<xacro:arg name="ROBOT" default="cyber_dog"/>
<xacro:arg name="USE_LIDAR" default="false"/>
<xacro:arg name="GAZEBO" default="false"/>
<xacro:include filename="const.xacro"/>
<xacro:include filename="leg.xacro"/>
<!-- <xacro:include filename="gazebo.xacro"/>-->
<xacro:include filename="ros2_control.xacro"/>
<xacro:if value="$(arg GAZEBO)">
<xacro:include filename="gazebo.xacro"/>
</xacro:if>
<xacro:unless value="$(arg GAZEBO)">
<xacro:include filename="ros2_control.xacro"/>
</xacro:unless>
<link name="base">
<visual>