Add Gazebo Playground
This commit is contained in:
Huang Zhenbiao
parent
e3f518eb12
commit
554b7dbc6a
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@ -18,6 +18,9 @@ Todo List:
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- [x] [Learning-based Controller](controllers/rl_quadruped_controller/)
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- [x] Fully understand the RL Workflow
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- [x] ROS2 Humble Gazebo Classic Support
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- [x] **[2025-02-23]** Add Gazebo Playground
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- [ ] OCS2 controller for Gazebo Simulation
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- [ ] Refactor FSM and Unitree Guide Controller
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Video for Unitree Guide Controller:
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[](https://www.bilibili.com/video/BV1aJbAeZEuo/)
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@ -37,7 +40,7 @@ Video for RL Quadruped Controller:
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```
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* Compile the package
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```bash
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colcon build --packages-up-to unitree_guide_controller go2_description keyboard_input
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colcon build --packages-up-to unitree_guide_controller go2_description keyboard_input --symlink-install
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```
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### 1.1 Mujoco Simulator
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@ -11,14 +11,14 @@ Tested environment:
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* Ubuntu 22.04
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* ROS2 Humble
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## Build
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## 1. Build
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```bash
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cd ~/ros2_ws
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colcon build --packages-up-to go2_description --symlink-install
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```
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## Visualize the robot
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## 2. Visualize the robot
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To visualize and check the configuration of the robot in rviz, simply launch:
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@ -27,9 +27,9 @@ source ~/ros2_ws/install/setup.bash
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ros2 launch go2_description visualize.launch.py
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```
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## Launch ROS2 Control
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## 3. Launch ROS2 Control
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### Mujoco Simulator
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### 3.1 Mujoco Simulator
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* Unitree Guide Controller
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```bash
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@ -47,14 +47,14 @@ ros2 launch go2_description visualize.launch.py
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ros2 launch rl_quadruped_controller mujoco.launch.py
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```
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### Gazebo Classic 11 (ROS2 Humble)
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### 3.2 Gazebo Classic 11 (ROS2 Humble)
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* Unitree Guide Controller
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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_classic.launch.py
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```
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### Gazebo Harmonic (ROS2 Jazzy)
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### 3.3 Gazebo Harmonic (ROS2 Jazzy)
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* Unitree Guide Controller
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```bash
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@ -67,17 +67,3 @@ ros2 launch go2_description visualize.launch.py
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ros2 launch go2_description gazebo_rl_control.launch.py
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```
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## When used for isaac gym or other similiar engine
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Collision parameters in urdf can be amended to better train the robot:
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Open "go2_description.urdf" in "./go2_description/urdf",
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and amend the ` box size="0.213 0.0245 0.034" ` in links of "FL_thigh", "FR_thigh", "RL_thigh", "RR_thigh".
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For example, change previous values to ` box size="0.11 0.0245 0.034" ` means the length of the thigh is shortened from
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0.213 to 0.11, which can avoid unnecessary collision between the thigh link and the calf link.
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The collision model before and after the above amendment are shown as "Normal_collision_model.png" and "
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Amended_collision_model.png" respectively.
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@ -15,6 +15,7 @@
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<exec_depend>joint_state_publisher</exec_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<exec_depend>imu_sensor_broadcaster</exec_depend>
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<exec_depend>joint_state_publisher_gui</exec_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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@ -1,188 +1,219 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<ros2_control name="GazeboSystem" type="system">
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<hardware>
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<plugin>gz_ros2_control/GazeboSimSystem</plugin>
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</hardware>
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<ros2_control name="GazeboSystem" type="system">
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<hardware>
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<plugin>gz_ros2_control/GazeboSimSystem</plugin>
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</hardware>
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<joint name="FR_hip_joint">
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<command_interface name="effort" initial_value="0.0"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="FR_hip_joint">
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<command_interface name="effort" initial_value="0.0"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="FR_thigh_joint">
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<command_interface name="effort" initial_value="0.0"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="FR_thigh_joint">
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<command_interface name="effort" initial_value="0.0"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="FR_calf_joint">
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<command_interface name="effort" initial_value="0.0"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="FR_calf_joint">
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<command_interface name="effort" initial_value="0.0"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="FL_hip_joint">
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<command_interface name="effort" initial_value="0.0"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="FL_hip_joint">
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<command_interface name="effort" initial_value="0.0"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="FL_thigh_joint">
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<command_interface name="effort" initial_value="0.0"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="FL_thigh_joint">
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<command_interface name="effort" initial_value="0.0"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="FL_calf_joint">
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<command_interface name="effort" initial_value="0.0"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="FL_calf_joint">
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<command_interface name="effort" initial_value="0.0"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="RR_hip_joint">
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<command_interface name="effort" initial_value="0.0"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="RR_hip_joint">
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<command_interface name="effort" initial_value="0.0"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="RR_thigh_joint">
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<command_interface name="effort" initial_value="0.0"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="RR_thigh_joint">
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<command_interface name="effort" initial_value="0.0"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="RR_calf_joint">
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<command_interface name="effort" initial_value="0.0"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="RR_calf_joint">
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<command_interface name="effort" initial_value="0.0"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="RL_hip_joint">
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<command_interface name="effort" initial_value="0.0"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="RL_hip_joint">
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<command_interface name="effort" initial_value="0.0"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="RL_thigh_joint">
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<command_interface name="effort" initial_value="0.0"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="RL_thigh_joint">
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<command_interface name="effort" initial_value="0.0"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="RL_calf_joint">
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<command_interface name="effort" initial_value="0.0"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="RL_calf_joint">
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<command_interface name="effort" initial_value="0.0"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<sensor name="imu_sensor">
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<state_interface name="orientation.x"/>
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<state_interface name="orientation.y"/>
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<state_interface name="orientation.z"/>
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<state_interface name="orientation.w"/>
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<state_interface name="angular_velocity.x"/>
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<state_interface name="angular_velocity.y"/>
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<state_interface name="angular_velocity.z"/>
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<state_interface name="linear_acceleration.x"/>
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<state_interface name="linear_acceleration.y"/>
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<state_interface name="linear_acceleration.z"/>
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</sensor>
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</ros2_control>
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<sensor name="imu_sensor">
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<state_interface name="orientation.x"/>
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<state_interface name="orientation.y"/>
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<state_interface name="orientation.z"/>
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<state_interface name="orientation.w"/>
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<state_interface name="angular_velocity.x"/>
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<state_interface name="angular_velocity.y"/>
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<state_interface name="angular_velocity.z"/>
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<state_interface name="linear_acceleration.x"/>
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<state_interface name="linear_acceleration.y"/>
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<state_interface name="linear_acceleration.z"/>
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</sensor>
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</ros2_control>
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<gazebo>
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<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
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<parameters>$(find go2_description)/config/gazebo.yaml</parameters>
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</plugin>
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<plugin filename="gz-sim-imu-system"
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name="gz::sim::systems::Imu">
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</plugin>
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</gazebo>
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<gazebo>
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<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
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<parameters>$(find go2_description)/config/gazebo.yaml</parameters>
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</plugin>
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<plugin filename="gz-sim-imu-system"
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name="gz::sim::systems::Imu">
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</plugin>
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</gazebo>
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<gazebo reference="trunk">
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<mu1>0.6</mu1>
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<mu2>0.6</mu2>
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<self_collide>1</self_collide>
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</gazebo>
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<gazebo reference="trunk">
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<mu1>0.6</mu1>
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<mu2>0.6</mu2>
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<self_collide>1</self_collide>
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</gazebo>
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<gazebo reference="imu_link">
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<sensor name="imu_sensor" type="imu">
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<always_on>1</always_on>
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<update_rate>500</update_rate>
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<visualize>true</visualize>
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<topic>imu</topic>
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<imu>
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<angular_velocity>
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<x>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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<bias_mean>0.0000075</bias_mean>
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<bias_stddev>0.0000008</bias_stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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<bias_mean>0.0000075</bias_mean>
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<bias_stddev>0.0000008</bias_stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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<bias_mean>0.0000075</bias_mean>
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<bias_stddev>0.0000008</bias_stddev>
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</noise>
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</z>
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</angular_velocity>
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<linear_acceleration>
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<x>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</z>
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</linear_acceleration>
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</imu>
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</sensor>
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</gazebo>
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<gazebo reference="imu_link">
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<sensor name="imu_sensor" type="imu">
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<always_on>1</always_on>
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<update_rate>500</update_rate>
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<visualize>true</visualize>
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<topic>imu</topic>
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<imu>
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<angular_velocity>
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<x>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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<bias_mean>0.0000075</bias_mean>
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<bias_stddev>0.0000008</bias_stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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<bias_mean>0.0000075</bias_mean>
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<bias_stddev>0.0000008</bias_stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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<bias_mean>0.0000075</bias_mean>
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<bias_stddev>0.0000008</bias_stddev>
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</noise>
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</z>
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</angular_velocity>
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<linear_acceleration>
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<x>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</z>
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</linear_acceleration>
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</imu>
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</sensor>
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</gazebo>
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<gazebo reference="imu_joint">
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<disableFixedJointLumping>true</disableFixedJointLumping>
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</gazebo>
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<gazebo reference="imu_joint">
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<disableFixedJointLumping>true</disableFixedJointLumping>
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</gazebo>
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<xacro:if value="$(arg EXTERNAL_SENSORS)">
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<gazebo reference="front_camera">
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<sensor name="front_camera" type="camera">
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<camera>
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<horizontal_fov>2.094</horizontal_fov>
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<image>
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<width>1280</width>
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<height>720</height>
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</image>
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<clip>
|
||||
<near>0.1</near>
|
||||
<far>15</far>
|
||||
</clip>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<!-- Noise is sampled independently per pixel on each frame.
|
||||
That pixel's noise value is added to each of its color
|
||||
channels, which at that point lie in the range [0,1]. -->
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.007</stddev>
|
||||
</noise>
|
||||
<optical_frame_id>front_camera</optical_frame_id>
|
||||
<camera_info_topic>camera/camera_info</camera_info_topic>
|
||||
</camera>
|
||||
<always_on>true</always_on>
|
||||
<update_rate>15</update_rate>
|
||||
<visualize>true</visualize>
|
||||
<topic>camera/image</topic>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
</xacro:if>
|
||||
</robot>
|
||||
|
|
|
|||
|
|
@ -121,33 +121,16 @@
|
|||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!--
|
||||
<joint name="load_joint" type="fixed">
|
||||
<parent link="trunk"/>
|
||||
<child link="load_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
|
||||
<joint name="front_camera_joint" type="fixed">
|
||||
<parent link="trunk"/>
|
||||
<child link="front_camera"/>
|
||||
<origin rpy="0 0 0" xyz="0.32715 0 0.04297"/>
|
||||
</joint>
|
||||
|
||||
<link name="load_link">
|
||||
<inertial>
|
||||
<mass value="5"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.2"/>
|
||||
<geometry>
|
||||
<box size="0.5 0.3 0.2"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size=".001 .001 .001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<link name="front_camera">
|
||||
</link>
|
||||
-->
|
||||
|
||||
<xacro:leg name="FR" mirror="-1" mirror_dae="False" front_hind="1" front_hind_dae="True"/>
|
||||
<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True"/>
|
||||
<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False"/>
|
||||
|
|
|
|||
|
|
@ -0,0 +1,11 @@
|
|||
cmake_minimum_required(VERSION 3.8)
|
||||
project(gz_quadruped_playground)
|
||||
|
||||
find_package(ament_cmake REQUIRED)
|
||||
|
||||
install(
|
||||
DIRECTORY worlds launch config
|
||||
DESTINATION share/${PROJECT_NAME}/
|
||||
)
|
||||
|
||||
ament_package()
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
# Gazebo Quadruped Playground
|
||||
|
||||
This folder contains the gazebo worlds and sensor models used for quadruped robot simulation.
|
||||
|
||||
Tested environment:
|
||||
|
||||
* Ubuntu 24.04 【ROS2 Jazzy】
|
||||
|
||||
## Build
|
||||
|
||||
```bash
|
||||
cd ~/ros2_ws
|
||||
colcon build --packages-up-to gz_quadruped_playground --symlink-install
|
||||
```
|
||||
|
||||
## Launch Simulation
|
||||
```bash
|
||||
source ~/ros2_ws/install/setup.bash
|
||||
ros2 launch gz_quadruped_playground gazebo.launch.py
|
||||
```
|
||||
|
|
@ -0,0 +1,275 @@
|
|||
Panels:
|
||||
- Class: rviz_common/Displays
|
||||
Help Height: 138
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
- /RobotModel1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 216
|
||||
- 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:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
FL_calf:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
FL_foot:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
FL_hip:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
FL_thigh:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
FR_calf:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
FR_foot:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
FR_hip:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
FR_thigh:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
RL_calf:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
RL_foot:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
RL_hip:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
RL_thigh:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
RR_calf:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
RR_foot:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
RR_hip:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
RR_thigh:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
base:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
front_camera:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
imu_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
trunk:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Mass Properties:
|
||||
Inertia: false
|
||||
Mass: false
|
||||
Name: RobotModel
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
- Class: rviz_default_plugins/Image
|
||||
Enabled: true
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: Image
|
||||
Normalize Range: true
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /camera/image
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Fixed Frame: base
|
||||
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: 0.9871627688407898
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0.011728689074516296
|
||||
Y: 0.011509218253195286
|
||||
Z: -0.10348724573850632
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.5053979158401489
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 0.8203961253166199
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 786
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: true
|
||||
Image:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000015600000258fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000019d000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001de000000b50000001600ffffff000000010000015d0000043cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000700000043c000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000048d0000005efc0100000002fb0000000800540069006d006501000000000000048d0000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000003310000025800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: true
|
||||
Width: 1165
|
||||
X: 1159
|
||||
Y: 219
|
||||
|
|
@ -0,0 +1,151 @@
|
|||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch_ros.actions import Node
|
||||
from launch.actions import DeclareLaunchArgument, OpaqueFunction, IncludeLaunchDescription, RegisterEventHandler
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import PathJoinSubstitution
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
|
||||
import xacro
|
||||
|
||||
|
||||
def launch_setup(context, *args, **kwargs):
|
||||
# Gazebo World
|
||||
world = context.launch_configurations['world']
|
||||
default_sdf_path = os.path.join(get_package_share_directory('gz_quadruped_playground'), 'worlds', world + '.sdf')
|
||||
print(default_sdf_path)
|
||||
|
||||
# Init Height When spawn the model
|
||||
init_height = context.launch_configurations['height']
|
||||
gz_spawn_entity = Node(
|
||||
package='ros_gz_sim',
|
||||
executable='create',
|
||||
output='screen',
|
||||
arguments=['-topic', 'robot_description', '-name',
|
||||
'robot', '-allow_renaming', 'true', '-z', init_height],
|
||||
)
|
||||
|
||||
# Robot Description
|
||||
pkg_description = context.launch_configurations['pkg_description']
|
||||
pkg_path = os.path.join(get_package_share_directory(pkg_description))
|
||||
xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
|
||||
robot_description = xacro.process_file(xacro_file, mappings={
|
||||
'GAZEBO': 'true',
|
||||
'EXTERNAL_SENSORS': 'true'
|
||||
}).toxml()
|
||||
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
|
||||
}
|
||||
],
|
||||
)
|
||||
|
||||
rviz_config_file = os.path.join(get_package_share_directory('gz_quadruped_playground'), "config", "rviz.rviz")
|
||||
rviz = Node(
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
name='rviz',
|
||||
output='screen',
|
||||
arguments=["-d", rviz_config_file]
|
||||
)
|
||||
|
||||
# Controllers
|
||||
controller = context.launch_configurations['world']
|
||||
if controller == 'ocs2':
|
||||
controller_launch = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource([PathJoinSubstitution([FindPackageShare('gz_quadruped_playground'),
|
||||
'launch',
|
||||
'ocs2.launch.py'])])
|
||||
)
|
||||
else:
|
||||
controller_launch = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource([PathJoinSubstitution([FindPackageShare('gz_quadruped_playground'),
|
||||
'launch',
|
||||
'unitree_guide.launch.py'])])
|
||||
)
|
||||
|
||||
return [
|
||||
rviz,
|
||||
robot_state_publisher,
|
||||
gz_spawn_entity,
|
||||
IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
[PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
|
||||
'launch',
|
||||
'gz_sim.launch.py'])]),
|
||||
launch_arguments=[('gz_args', [' -r -v 4 ', default_sdf_path])]),
|
||||
controller_launch
|
||||
]
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
world = DeclareLaunchArgument(
|
||||
'world',
|
||||
default_value='default',
|
||||
description='The world to load'
|
||||
)
|
||||
|
||||
pkg_description = DeclareLaunchArgument(
|
||||
'pkg_description',
|
||||
default_value='go2_description',
|
||||
description='package for robot description'
|
||||
)
|
||||
|
||||
height = DeclareLaunchArgument(
|
||||
'height',
|
||||
default_value='0.5',
|
||||
description='Init height in simulation'
|
||||
)
|
||||
|
||||
controller = DeclareLaunchArgument(
|
||||
'controller',
|
||||
default_value='unitree_guide',
|
||||
description='The ROS2-Control Controllers'
|
||||
)
|
||||
|
||||
gz_bridge_node = Node(
|
||||
package="ros_gz_bridge",
|
||||
executable="parameter_bridge",
|
||||
arguments=[
|
||||
"/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
|
||||
"/camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo",
|
||||
],
|
||||
output="screen",
|
||||
parameters=[
|
||||
{'use_sim_time': True},
|
||||
]
|
||||
)
|
||||
|
||||
gz_image_bridge_node = Node(
|
||||
package="ros_gz_image",
|
||||
executable="image_bridge",
|
||||
arguments=[
|
||||
"/camera/image",
|
||||
],
|
||||
output="screen",
|
||||
parameters=[
|
||||
{'use_sim_time': True,
|
||||
'camera.image.compressed.jpeg_quality': 75},
|
||||
],
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
world,
|
||||
pkg_description,
|
||||
height,
|
||||
controller,
|
||||
gz_bridge_node,
|
||||
gz_image_bridge_node,
|
||||
OpaqueFunction(function=launch_setup),
|
||||
])
|
||||
|
|
@ -0,0 +1,54 @@
|
|||
import xacro
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, RegisterEventHandler
|
||||
from launch.event_handlers import OnProcessExit
|
||||
from launch_ros.actions import Node
|
||||
def generate_launch_description():
|
||||
joint_state_publisher = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["joint_state_broadcaster",
|
||||
"--controller-manager", "/controller_manager"],
|
||||
parameters=[
|
||||
{'use_sim_time': True},
|
||||
]
|
||||
)
|
||||
|
||||
imu_sensor_broadcaster = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["imu_sensor_broadcaster",
|
||||
"--controller-manager", "/controller_manager"],
|
||||
parameters=[
|
||||
{'use_sim_time': True},
|
||||
]
|
||||
)
|
||||
|
||||
leg_pd_controller = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["leg_pd_controller",
|
||||
"--controller-manager", "/controller_manager"],
|
||||
parameters=[
|
||||
{'use_sim_time': True},
|
||||
]
|
||||
)
|
||||
|
||||
unitree_guide_controller = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["unitree_guide_controller", "--controller-manager", "/controller_manager"],
|
||||
parameters=[
|
||||
{'use_sim_time': True},
|
||||
]
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
leg_pd_controller,
|
||||
RegisterEventHandler(
|
||||
event_handler=OnProcessExit(
|
||||
target_action=leg_pd_controller,
|
||||
on_exit=[imu_sensor_broadcaster, joint_state_publisher, unitree_guide_controller],
|
||||
)
|
||||
),
|
||||
])
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>gz_quadruped_playground</name>
|
||||
<version>0.0.0</version>
|
||||
<description>The gazebo playground for quadruped robots</description>
|
||||
|
||||
<maintainer email="biao876990970@hotmail.com">biao</maintainer>
|
||||
<license>Apache-2.0</license>
|
||||
|
||||
<exec_depend>xacro</exec_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>
|
||||
|
|
@ -0,0 +1,132 @@
|
|||
<?xml version="1.0" ?>
|
||||
<!--
|
||||
Try inserting a model:
|
||||
|
||||
gz service -s /world/empty/create \
|
||||
--reqtype gz.msgs.EntityFactory \
|
||||
--reptype gz.msgs.Boolean \
|
||||
--timeout 300 \
|
||||
--req 'sdf: '\
|
||||
'"<?xml version=\"1.0\" ?>'\
|
||||
'<sdf version=\"1.6\">'\
|
||||
'<model name=\"spawned_model\">'\
|
||||
'<link name=\"link\">'\
|
||||
'<visual name=\"visual\">'\
|
||||
'<geometry><sphere><radius>1.0</radius></sphere></geometry>'\
|
||||
'</visual>'\
|
||||
'<collision name=\"visual\">'\
|
||||
'<geometry><sphere><radius>1.0</radius></sphere></geometry>'\
|
||||
'</collision>'\
|
||||
'</link>'\
|
||||
'</model>'\
|
||||
'</sdf>" '\
|
||||
'pose: {position: {z: 10}} '\
|
||||
'name: "new_name" '\
|
||||
'allow_renaming: true'
|
||||
|
||||
Then try deleting it:
|
||||
|
||||
gz service -s /world/empty/remove \
|
||||
--reqtype gz.msgs.Entity \
|
||||
--reptype gz.msgs.Boolean \
|
||||
--timeout 300 \
|
||||
--req 'name: "new_name" type: MODEL'
|
||||
|
||||
Try inserting a light:
|
||||
|
||||
gz service -s /world/empty/create --reqtype gz.msgs.EntityFactory --reptype gz.msgs.Boolean --timeout 300 --req 'sdf: '\
|
||||
'"<?xml version=\"1.0\" ?>'\
|
||||
'<sdf version=\"1.6\">'\
|
||||
'<light name=\"spawned_light\" type=\"directional\">'\
|
||||
'<pose>0 0 10 0.1 1.0 0</pose>'\
|
||||
'</light>'\
|
||||
'</sdf>"'
|
||||
|
||||
Then try deleting it:
|
||||
|
||||
gz service -s /world/empty/remove \
|
||||
--reqtype gz.msgs.Entity \
|
||||
--reptype gz.msgs.Boolean \
|
||||
--timeout 300 \
|
||||
--req 'name: "spawned_light" type: LIGHT'
|
||||
|
||||
Insert a light using a message and allow_renaming:
|
||||
|
||||
gz service -s /world/empty/create \
|
||||
--reqtype gz.msgs.EntityFactory \
|
||||
--reptype gz.msgs.Boolean \
|
||||
--timeout 300 \
|
||||
--req 'allow_renaming: true, light: {name: "spawned_light", type: 2, diffuse: {r: 1}}'
|
||||
|
||||
-->
|
||||
<sdf version="1.6">
|
||||
<world name="empty">
|
||||
<physics name="1ms" type="ignored">
|
||||
<max_step_size>0.001</max_step_size>
|
||||
<real_time_factor>1.0</real_time_factor>
|
||||
</physics>
|
||||
<plugin
|
||||
filename="gz-sim-sensors-system"
|
||||
name="gz::sim::systems::Sensors">
|
||||
<render_engine>ogre2</render_engine>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-physics-system"
|
||||
name="gz::sim::systems::Physics">
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-user-commands-system"
|
||||
name="gz::sim::systems::UserCommands">
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-scene-broadcaster-system"
|
||||
name="gz::sim::systems::SceneBroadcaster">
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-contact-system"
|
||||
name="gz::sim::systems::Contact">
|
||||
</plugin>
|
||||
|
||||
<light type="directional" name="sun">
|
||||
<cast_shadows>true</cast_shadows>
|
||||
<pose>0 0 10 0 0 0</pose>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.2 0.2 0.2 1</specular>
|
||||
<attenuation>
|
||||
<range>1000</range>
|
||||
<constant>0.9</constant>
|
||||
<linear>0.01</linear>
|
||||
<quadratic>0.001</quadratic>
|
||||
</attenuation>
|
||||
<direction>-0.5 0.1 -0.9</direction>
|
||||
</light>
|
||||
|
||||
<model name="ground_plane">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>100 100</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>100 100</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.8 0.8 0.8 1</ambient>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.8 0.8 0.8 1</specular>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
|
||||
</world>
|
||||
</sdf>
|
||||
Loading…
Reference in New Issue