fix readme for gazebo classic
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Huang Zhenbiao
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README.md
81
README.md
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@ -1,12 +1,14 @@
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# Quadruped ROS2 Control
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This repository contains the ros2-control based controllers for the quadruped robot.
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* [Controllers](controllers): contains the ros2-control controllers
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This repository contains the ros2-control based controllers for the quadruped robot.
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* [Controllers](controllers): contains the ros2-control controllers
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* [Commands](commands): contains command node used to send command to the controller
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* [Descriptions](descriptions): contains the urdf model of the robot
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* [Hardwares](hardwares): contains the ros2-control hardware interface for the robot
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Todo List:
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- [x] [Mujoco Simulation](hardwares/hardware_unitree_mujoco)
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- [x] [Unitree Guide Controller](controllers/unitree_guide_controller)
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- [x] [Gazebo Simulation](descriptions/quadruped_gazebo)
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@ -23,8 +25,8 @@ Video for Unitree Guide Controller:
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Video for OCS2 Quadruped Controller:
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[](https://www.bilibili.com/video/BV1UcxieuEmH/)
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## 1. Quick Start
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* rosdep
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```bash
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cd ~/ros2_ws
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@ -36,9 +38,13 @@ Video for OCS2 Quadruped Controller:
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```
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### 1.1 Mujoco Simulator
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Please use this [Mujoco Simulation](https://github.com/legubiao/unitree_mujoco) for more robot models and contact sensor.
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> **Warning:** CycloneDDS ROS2 RMW may conflict with unitree_sdk2. If you cannot launch unitree mujoco simulation without `sudo`, then you cannot used `unitree_mujoco_hardware`. You can switch to gazebo, or try to solve the conflict by uninstall CycloneDDS ROS2 RMW.
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Please use this [Mujoco Simulation](https://github.com/legubiao/unitree_mujoco) for more robot models and contact
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sensor.
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> **Warning:** CycloneDDS ROS2 RMW may conflict with unitree_sdk2. If you cannot launch unitree mujoco simulation
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> without `sudo`, then you cannot used `unitree_mujoco_hardware`. You can switch to gazebo, or try to solve the conflict
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> by uninstall CycloneDDS ROS2 RMW.
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* Launch the unitree mujoco go2 simulation
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* Launch the ros2-control
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@ -53,22 +59,10 @@ Please use this [Mujoco Simulation](https://github.com/legubiao/unitree_mujoco)
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```
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### 1.2 Gazebo Classic Simulator (ROS2 Humble)
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* Compile Leg PD Controller
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```bash
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colcon build --packages-up-to leg_pd_controller
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```
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* Launch the ros2-control
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch unitree_guide_controller gazebo.launch.py
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```
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* Run the keyboard control node
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 run keyboard_input keyboard_input
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```
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### 1.3 Gazebo Harmonic Simulator (ROS2 Jazzy)
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* Install Gazebo Classic
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```bash
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sudo apt-get install ros-humble-gazebo-ros ros-humble-gazebo-ros2-control
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```
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* Compile Leg PD Controller
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```bash
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colcon build --packages-up-to leg_pd_controller
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@ -84,16 +78,51 @@ Please use this [Mujoco Simulation](https://github.com/legubiao/unitree_mujoco)
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ros2 run keyboard_input keyboard_input
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```
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For more details, please refer to the [unitree guide controller](controllers/unitree_guide_controller/) and [go2 description](descriptions/unitree/go2_description/).
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### 1.3 Gazebo Harmonic Simulator (ROS2 Jazzy)
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* Install Gazebo
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```bash
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sudo apt-get install ros-jazzy-ros-gz ros-jazzy-gz-ros2-control
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```
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* Compile Leg PD Controller
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```bash
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colcon build --packages-up-to leg_pd_controller
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```
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* Launch the ros2-control
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch unitree_guide_controller gazebo.launch.py
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```
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* Run the keyboard control node
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 run keyboard_input keyboard_input
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```
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For more details, please refer to the [unitree guide controller](controllers/unitree_guide_controller/)
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and [go2 description](descriptions/unitree/go2_description/).
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## Reference
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### Conference Paper
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[1] Liao, Qiayuan, et al. "Walking in narrow spaces: Safety-critical locomotion control for quadrupedal robots with duality-based optimization." In *2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)*, pp. 2723-2730. IEEE, 2023.
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[1] Liao, Qiayuan, et al. "Walking in narrow spaces: Safety-critical locomotion control for quadrupedal robots with
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duality-based optimization." In *2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)*, pp.
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2723-2730. IEEE, 2023.
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### Miscellaneous
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[1] Unitree Robotics. *unitree\_guide: An open source project for controlling the quadruped robot of Unitree Robotics, and it is also the software project accompanying 《四足机器人控制算法--建模、控制与实践》 published by Unitree Robotics*. [Online]. Available: [https://github.com/unitreerobotics/unitree_guide](https://github.com/unitreerobotics/unitree_guide)
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[2] Qiayuan Liao. *legged\_control: An open-source NMPC, WBC, state estimation, and sim2real framework for legged robots*. [Online]. Available: [https://github.com/qiayuanl/legged_control](https://github.com/qiayuanl/legged_control)
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[1] Unitree Robotics. *unitree\_guide: An open source project for controlling the quadruped robot of Unitree Robotics,
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and it is also the software project accompanying 《四足机器人控制算法--建模、控制与实践》 published by Unitree
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Robotics*. [Online].
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Available: [https://github.com/unitreerobotics/unitree_guide](https://github.com/unitreerobotics/unitree_guide)
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[3] Ziqi Fan. *rl\_sar: Simulation Verification and Physical Deployment of Robot Reinforcement Learning Algorithm.* 2024. Available: [https://github.com/fan-ziqi/rl_sar](https://github.com/fan-ziqi/rl_sar)
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[2] Qiayuan Liao. *legged\_control: An open-source NMPC, WBC, state estimation, and sim2real framework for legged
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robots*. [Online]. Available: [https://github.com/qiayuanl/legged_control](https://github.com/qiayuanl/legged_control)
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[3] Ziqi Fan. *rl\_sar: Simulation Verification and Physical Deployment of Robot Reinforcement Learning Algorithm.*
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2024. Available: [https://github.com/fan-ziqi/rl_sar](https://github.com/fan-ziqi/rl_sar)
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@ -22,11 +22,11 @@ foreach (Dependency IN ITEMS ${CONTROLLER_INCLUDE_DEPENDS})
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endforeach ()
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# check ros2 control version
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find_package(controller_manager 3.0.0)
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find_package(controller_manager REQUIRED)
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# Handle the case where the required version is not found
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if(NOT controller_manager_FOUND)
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if(controller_manager_VERSION VERSION_LESS "3.0.0")
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add_definitions(-DROS2_CONTROL_VERSION_LT_3)
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message(FATAL_ERROR "ros2_control version below 3.0.0. "
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message(STATUS "ros2_control version below 3.0.0. "
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"Change the implementation to support ros2_control version 2.")
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endif()
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