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add pd controller

This commit is contained in:
Huang Zhenbiao 2024-09-19 22:45:08 +08:00
parent 5f9a55440e
commit 5825c3cac2
24 changed files with 691 additions and 109 deletions
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66
controllers/leg_pd_controller/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(leg_pd_controller)
if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif ()
set(CMAKE_BUILD_TYPE Release)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
set(CONTROLLER_INCLUDE_DEPENDS
pluginlib
rcpputils
controller_interface
realtime_tools
)
# find dependencies
find_package(ament_cmake REQUIRED)
foreach (Dependency IN ITEMS ${CONTROLLER_INCLUDE_DEPENDS})
find_package(${Dependency} REQUIRED)
endforeach ()
add_library(${PROJECT_NAME} SHARED
src/LegPdController.cpp
)
target_include_directories(${PROJECT_NAME}
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
ament_target_dependencies(
${PROJECT_NAME} PUBLIC
${CONTROLLER_INCLUDE_DEPENDS}
)
pluginlib_export_plugin_description_file(controller_interface leg_pd_controller.xml)
install(
DIRECTORY include/
DESTINATION include/${PROJECT_NAME}
)
install(
TARGETS ${PROJECT_NAME}
EXPORT export_${PROJECT_NAME}
ARCHIVE DESTINATION lib/${PROJECT_NAME}
LIBRARY DESTINATION lib/${PROJECT_NAME}
RUNTIME DESTINATION bin
)
ament_export_dependencies(${CONTROLLER_INCLUDE_DEPENDS})
ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
if (BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif ()
ament_package()

202
controllers/leg_pd_controller/LICENSE Normal file
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6
controllers/leg_pd_controller/README.md Normal file
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# Leg PD Controller
```bash
cd ~/ros2_ws
colcon build --packages-up-to leg_pd_controller
```

68
controllers/leg_pd_controller/include/leg_pd_controller/LegPdController.h Normal file
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@ -0,0 +1,68 @@
//
// Created by tlab-uav on 24-9-19.
//
#ifndef LEGPDCONTROLLER_H
#define LEGPDCONTROLLER_H
#include <controller_interface/chainable_controller_interface.hpp>
#include <controller_interface/controller_interface.hpp>
namespace leg_pd_controller {
class LegPdController : public controller_interface::ChainableControllerInterface {
public:
controller_interface::CallbackReturn on_init() override;
controller_interface::InterfaceConfiguration command_interface_configuration() const override;
controller_interface::InterfaceConfiguration state_interface_configuration() const override;
controller_interface::CallbackReturn on_configure(
const rclcpp_lifecycle::State &previous_state) override;
controller_interface::CallbackReturn on_activate(
const rclcpp_lifecycle::State &previous_state) override;
controller_interface::CallbackReturn on_deactivate(
const rclcpp_lifecycle::State &previous_state) override;
bool on_set_chained_mode(bool chained_mode) override;
controller_interface::return_type update_and_write_commands(
const rclcpp::Time &time, const rclcpp::Duration &period) override;
protected:
std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces() override;
controller_interface::return_type update_reference_from_subscribers(
const rclcpp::Time &time, const rclcpp::Duration &period) override;
std::vector<double> joint_effort_command_;
std::vector<double> joint_position_command_;
std::vector<double> joint_velocities_command_;
std::vector<double> joint_kp_command_;
std::vector<double> joint_kd_command_;
std::vector<std::string> joint_names_;
std::vector<std::string> state_interface_types_;
std::vector<std::string> reference_interface_types_;
std::vector<std::reference_wrapper<hardware_interface::LoanedCommandInterface> >
joint_effort_command_interface_;
std::vector<std::reference_wrapper<hardware_interface::LoanedStateInterface> >
joint_position_state_interface_;
std::vector<std::reference_wrapper<hardware_interface::LoanedStateInterface> >
joint_velocity_state_interface_;
std::unordered_map<
std::string, std::vector<std::reference_wrapper<hardware_interface::LoanedStateInterface> > *>
state_interface_map_ = {
{"position", &joint_position_state_interface_},
{"velocity", &joint_velocity_state_interface_}
};
};
}
#endif //LEGPDCONTROLLER_H

9
controllers/leg_pd_controller/leg_pd_controller.xml Normal file
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@ -0,0 +1,9 @@
<library path="leg_pd_controller">
<class name="leg_pd_controller/LegPdController"
type="leg_pd_controller::LegPdController"
base_class_type="controller_interface::ChainableControllerInterface">
<description>
PD controller for simulation which only support effort command input
</description>
</class>
</library>

18
controllers/leg_pd_controller/package.xml Normal file
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@ -0,0 +1,18 @@
<?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>leg_pd_controller</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="biao876990970@hotmail.com">Huang Zhenbiao</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

117
controllers/leg_pd_controller/src/LegPdController.cpp Normal file
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//
// Created by tlab-uav on 24-9-19.
//
#include "leg_pd_controller/LegPdController.h"
namespace leg_pd_controller {
using config_type = controller_interface::interface_configuration_type;
controller_interface::CallbackReturn LegPdController::on_init() {
try {
joint_names_ = auto_declare<std::vector<std::string> >("joints", joint_names_);
reference_interface_types_ =
auto_declare<std::vector<std::string> >("reference_interfaces", reference_interface_types_);
state_interface_types_ = auto_declare<std::vector<
std::string> >("state_interfaces", state_interface_types_);
} catch (const std::exception &e) {
fprintf(stderr, "Exception thrown during init stage with message: %s \n", e.what());
return controller_interface::CallbackReturn::ERROR;
}
return CallbackReturn::SUCCESS;
}
controller_interface::InterfaceConfiguration LegPdController::command_interface_configuration() const {
controller_interface::InterfaceConfiguration conf = {config_type::INDIVIDUAL, {}};
conf.names.reserve(joint_names_.size());
for (const auto &joint_name: joint_names_) {
conf.names.push_back(joint_name + "/effort");
}
return conf;
}
controller_interface::InterfaceConfiguration LegPdController::state_interface_configuration() const {
controller_interface::InterfaceConfiguration conf = {config_type::INDIVIDUAL, {}};
conf.names.reserve(joint_names_.size() * state_interface_types_.size());
for (const auto &joint_name: joint_names_) {
for (const auto &interface_type: state_interface_types_) {
conf.names.push_back(joint_name + "/" += interface_type);
}
}
return conf;
}
controller_interface::CallbackReturn LegPdController::on_configure(
const rclcpp_lifecycle::State & /*previous_state*/) {
return CallbackReturn::SUCCESS;
}
controller_interface::CallbackReturn LegPdController::on_activate(
const rclcpp_lifecycle::State & /*previous_state*/) {
// assign effort command interface
for (auto &interface: command_interfaces_) {
joint_effort_command_interface_.emplace_back(interface);
}
// assign state interfaces
for (auto &interface: state_interfaces_) {
state_interface_map_[interface.get_interface_name()]->push_back(interface);
}
return CallbackReturn::SUCCESS;
}
controller_interface::CallbackReturn LegPdController::on_deactivate(
const rclcpp_lifecycle::State & /*previous_state*/) {
release_interfaces();
return CallbackReturn::SUCCESS;
}
bool LegPdController::on_set_chained_mode(bool /*chained_mode*/) {
return true;
}
controller_interface::return_type LegPdController::update_and_write_commands(
const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) {
for (size_t i = 0; i < joint_names_.size(); ++i) {
// PD Controller
const double torque = joint_effort_command_[i] + joint_kp_command_[i] * (
joint_position_command_[i] - joint_position_state_interface_[i].get().get_value())
+
joint_kd_command_[i] * (
joint_velocities_command_[i] - joint_velocity_state_interface_[i].get().
get_value());
joint_effort_command_interface_[i].get().set_value(torque);
}
return controller_interface::return_type::OK;
}
std::vector<hardware_interface::CommandInterface> LegPdController::on_export_reference_interfaces() {
std::vector<hardware_interface::CommandInterface> reference_interfaces;
int ind = 0;
std::string controller_name = get_node()->get_name();
for (const auto &joint_name: joint_names_) {
reference_interfaces.emplace_back(controller_name, joint_name + "/position", &joint_position_command_[ind]);
reference_interfaces.emplace_back(controller_name, joint_name + "/velocity",
&joint_velocities_command_[ind]);
reference_interfaces.emplace_back(controller_name, joint_name + "/torque", &joint_effort_command_[ind]);
reference_interfaces.emplace_back(controller_name, joint_name + "/kp", &joint_kp_command_[ind]);
reference_interfaces.emplace_back(controller_name, joint_name + "/kd", &joint_kd_command_[ind]);
ind++;
}
return reference_interfaces;
}
controller_interface::return_type LegPdController::update_reference_from_subscribers(
const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) {
return controller_interface::return_type::OK;
}
}
#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(leg_pd_controller::LegPdController, controller_interface::ChainableControllerInterface);

2
controllers/unitree_guide_controller/include/unitree_guide_controller/UnitreeGuideController.h
View File

@ -89,7 +89,7 @@ namespace unitree_guide_controller {
std::unordered_map<
std::string, std::vector<std::reference_wrapper<hardware_interface::LoanedCommandInterface> > *>
command_interface_map_ = {
{"effort", &ctrl_comp_.joint_effort_command_interface_},
{"torque", &ctrl_comp_.joint_torque_command_interface_},
{"position", &ctrl_comp_.joint_position_command_interface_},
{"velocity", &ctrl_comp_.joint_velocity_command_interface_},
{"kp", &ctrl_comp_.joint_kp_command_interface_},

4
controllers/unitree_guide_controller/include/unitree_guide_controller/control/CtrlComponent.h
View File

@ -17,7 +17,7 @@
struct CtrlComponent {
std::vector<std::reference_wrapper<hardware_interface::LoanedCommandInterface> >
joint_effort_command_interface_;
joint_torque_command_interface_;
std::vector<std::reference_wrapper<hardware_interface::LoanedCommandInterface> >
joint_position_command_interface_;
std::vector<std::reference_wrapper<hardware_interface::LoanedCommandInterface> >
@ -54,7 +54,7 @@ struct CtrlComponent {
}
void clear() {
joint_effort_command_interface_.clear();
joint_torque_command_interface_.clear();
joint_position_command_interface_.clear();
joint_velocity_command_interface_.clear();
joint_kd_command_interface_.clear();

2
controllers/unitree_guide_controller/src/FSM/StateBalanceTest.cpp
View File

@ -89,7 +89,7 @@ void StateBalanceTest::calcTorque() {
for (int i = 0; i < 4; i++) {
KDL::JntArray torque = robot_model_.getTorque(force_feet_body.col(i), i);
for (int j = 0; j < 3; j++) {
ctrl_comp_.joint_effort_command_interface_[i * 3 + j].get().set_value(torque(j));
ctrl_comp_.joint_torque_command_interface_[i * 3 + j].get().set_value(torque(j));
ctrl_comp_.joint_position_command_interface_[i * 3 + j].get().set_value(current_joints[i](j));
}
}

2
controllers/unitree_guide_controller/src/FSM/StateFixedDown.cpp
View File

@ -25,7 +25,7 @@ void StateFixedDown::run() {
ctrl_comp_.joint_position_command_interface_[i].get().set_value(
phase * target_pos_[i] + (1 - phase) * start_pos_[i]);
ctrl_comp_.joint_velocity_command_interface_[i].get().set_value(0);
ctrl_comp_.joint_effort_command_interface_[i].get().set_value(0);
ctrl_comp_.joint_torque_command_interface_[i].get().set_value(0);
ctrl_comp_.joint_kp_command_interface_[i].get().set_value(50.0);
ctrl_comp_.joint_kd_command_interface_[i].get().set_value(3.5);
}

2
controllers/unitree_guide_controller/src/FSM/StateFixedStand.cpp
View File

@ -25,7 +25,7 @@ void StateFixedStand::run() {
ctrl_comp_.joint_position_command_interface_[i].get().set_value(
phase * target_pos_[i] + (1 - phase) * start_pos_[i]);
ctrl_comp_.joint_velocity_command_interface_[i].get().set_value(0);
ctrl_comp_.joint_effort_command_interface_[i].get().set_value(0);
ctrl_comp_.joint_torque_command_interface_[i].get().set_value(0);
ctrl_comp_.joint_kp_command_interface_[i].get().set_value(
phase * 60.0 + (1 - phase) * 20.0);
ctrl_comp_.joint_kd_command_interface_[i].get().set_value(3.5);

2
controllers/unitree_guide_controller/src/FSM/StatePassive.cpp
View File

@ -12,7 +12,7 @@ StatePassive::StatePassive(CtrlComponent &ctrlComp) : FSMState(
}
void StatePassive::enter() {
for (auto i: ctrl_comp_.joint_effort_command_interface_) {
for (auto i: ctrl_comp_.joint_torque_command_interface_) {
i.get().set_value(0);
}
for (auto i: ctrl_comp_.joint_position_command_interface_) {

2
controllers/unitree_guide_controller/src/FSM/StateSwingTest.cpp
View File

@ -99,6 +99,6 @@ void StateSwingTest::torqueCtrl() const {
KDL::JntArray torque0 = robot_model_.getTorque(force0, 0);
for (int i = 0; i < 3; i++) {
ctrl_comp_.joint_effort_command_interface_[i].get().set_value(torque0(i));
ctrl_comp_.joint_torque_command_interface_[i].get().set_value(torque0(i));
}
}

2
controllers/unitree_guide_controller/src/FSM/StateTrotting.cpp
View File

@ -150,7 +150,7 @@ void StateTrotting::calcTau() {
for (int i = 0; i < 4; i++) {
KDL::JntArray torque = robot_model_.getTorque(force_feet_body_.col(i), i);
for (int j = 0; j < 3; j++) {
ctrl_comp_.joint_effort_command_interface_[i * 3 + j].get().set_value(torque(j));
ctrl_comp_.joint_torque_command_interface_[i * 3 + j].get().set_value(torque(j));
}
}
}

1
controllers/unitree_guide_controller/src/UnitreeGuideController.cpp
View File

@ -138,6 +138,7 @@ namespace unitree_guide_controller {
}
}
// Create FSM List
state_list_.passive = std::make_shared<StatePassive>(ctrl_comp_);
state_list_.fixedDown = std::make_shared<StateFixedDown>(ctrl_comp_);
state_list_.fixedStand = std::make_shared<StateFixedStand>(ctrl_comp_);

2
descriptions/go2_description/config/robot_control.yaml
View File

@ -36,7 +36,7 @@ unitree_guide_controller:
- RL_calf_joint
command_interfaces:
- effort
- torque
- position
- velocity
- kp

24
descriptions/go2_description/xacro/ros2_control.xacro
View File

@ -10,7 +10,7 @@
<joint name="FR_hip_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="torque"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
@ -22,7 +22,7 @@
<joint name="FR_thigh_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="torque"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
@ -34,7 +34,7 @@
<joint name="FR_calf_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="torque"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
@ -46,7 +46,7 @@
<joint name="FL_hip_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="torque"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
@ -58,7 +58,7 @@
<joint name="FL_thigh_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="torque"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
@ -70,7 +70,7 @@
<joint name="FL_calf_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="torque"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
@ -82,7 +82,7 @@
<joint name="RR_hip_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="torque"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
@ -94,7 +94,7 @@
<joint name="RR_thigh_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="torque"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
@ -106,7 +106,7 @@
<joint name="RR_calf_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="torque"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
@ -118,7 +118,7 @@
<joint name="RL_hip_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="torque"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
@ -130,7 +130,7 @@
<joint name="RL_thigh_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="torque"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
@ -142,7 +142,7 @@
<joint name="RL_calf_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="torque"/>
<command_interface name="kp"/>
<command_interface name="kd"/>

72
descriptions/quadruped_gazebo/config/jtc.yaml
View File

@ -1,8 +1,7 @@
# Controller Manager configuration
controller_manager:
ros__parameters:
update_rate: 1000 # Hz
use_sim_time: true # If running in simulation
update_rate: 500 # Hz
# Define the available controllers
joint_state_broadcaster:
@ -11,7 +10,76 @@ controller_manager:
imu_sensor_broadcaster:
type: imu_sensor_broadcaster/IMUSensorBroadcaster
leg_pd_controller:
type: leg_pd_controller/LegPdController
imu_sensor_broadcaster:
ros__parameters:
sensor_name: "imu_sensor"
frame_id: "imu_sensor"
leg_pd_controller:
ros__parameters:
update_rate: 500 # Hz
joints:
- RF_HAA
- RH_HFE
- RF_KFE
- LF_HAA
- LF_HFE
- LF_KFE
- RH_HAA
- RH_HFE
- RH_KFE
- LH_HAA
- LH_HFE
- LH_KFE
command_interfaces:
- effort
state_interfaces:
- position
- velocity
unitree_guide_controller:
ros__parameters:
joints:
- RF_HAA
- RH_HFE
- RF_KFE
- LF_HAA
- LF_HFE
- LF_KFE
- RH_HAA
- RH_HFE
- RH_KFE
- LH_HAA
- LH_HFE
- LH_KFE
command_interfaces:
- torque
- position
- velocity
- kp
- kd
state_interfaces:
- effort
- position
- velocity
imu_name: "imu_sensor"
imu_interfaces:
- orientation.w
- orientation.x
- orientation.y
- orientation.z
- angular_velocity.x
- angular_velocity.y
- angular_velocity.z
- linear_acceleration.x
- linear_acceleration.y
- linear_acceleration.z

12
descriptions/quadruped_gazebo/config/visualize_urdf.rviz
View File

@ -10,7 +10,7 @@ Panels:
- /RobotModel1
- /RobotModel1/Description Topic1
Splitter Ratio: 0.5
Tree Height: 543
Tree Height: 301
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
@ -235,10 +235,10 @@ Visualization Manager:
Window Geometry:
Displays:
collapsed: false
Height: 1061
Height: 555
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001f40000031bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007300000000700000031b0000018600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015d0000031bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000700000031b0000013800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000065a0000005efc0100000002fb0000000800540069006d006501000000000000065a0000047a00fffffffb0000000800540069006d006501000000000000045000000000000000000000065a0000031b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000400000000000001f40000031bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007300000000700000031b000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015d0000031bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000700000031b000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002e50000005efc0100000002fb0000000800540069006d00650100000000000002e50000026f00fffffffb0000000800540069006d00650100000000000004500000000000000000000002e50000016900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@ -247,6 +247,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
Width: 1626
X: 787
Y: 356
Width: 741
X: 773
Y: 267

49
descriptions/quadruped_gazebo/launch/gazebo.launch.py
View File

@ -3,9 +3,10 @@ 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
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_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
@ -29,33 +30,59 @@ def launch_setup(context, *args, **kwargs):
arguments=['-topic', 'robot_description', '-name',
robot_type, '-allow_renaming', 'true', '-z', '0.5'],
)
return [
Node(
robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
parameters=[
{
'use_sim_time': True,
'publish_frequency': 100.0,
'publish_frequency': 20.0,
'use_tf_static': True,
'robot_description': robot_description
'robot_description': robot_description,
'ignore_timestamp': True
}
],
),
Node(
)
joint_state_publisher = Node(
package="controller_manager",
executable="spawner",
arguments=["joint_state_broadcaster",
"--controller-manager", "/controller_manager"],
),
Node(
)
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"],
)
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],
)
),
]

84
descriptions/quadruped_gazebo/urdf/common/ros2_control.xacro
View File

@ -14,27 +14,6 @@
<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="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="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="RF_HFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
@ -42,27 +21,6 @@
<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="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="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="RF_KFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
@ -70,6 +28,20 @@
<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"/>
@ -77,6 +49,20 @@
<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"/>
@ -84,6 +70,20 @@
<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"/>

2
hardwares/hardware_unitree_mujoco/include/hardware_unitree_mujoco/HardwareUnitree.h
View File

@ -26,7 +26,7 @@ public:
hardware_interface::return_type write(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override;
protected:
std::vector<double> joint_effort_command_;
std::vector<double> joint_torque_command_;
std::vector<double> joint_position_command_;
std::vector<double> joint_velocities_command_;
std::vector<double> joint_kp_command_;

10
hardwares/hardware_unitree_mujoco/src/HardwareUnitree.cpp
View File

@ -18,7 +18,7 @@ rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn Hardwa
return CallbackReturn::ERROR;
}
joint_effort_command_.assign(12, 0);
joint_torque_command_.assign(12, 0);
joint_position_command_.assign(12, 0);
joint_velocities_command_.assign(12, 0);
joint_kp_command_.assign(12, 0);
@ -100,7 +100,7 @@ std::vector<hardware_interface::CommandInterface> HardwareUnitree::export_comman
ind = 0;
for (const auto &joint_name: joint_interfaces["effort"]) {
command_interfaces.emplace_back(joint_name, "effort", &joint_effort_command_[ind]);
command_interfaces.emplace_back(joint_name, "torque", &joint_torque_command_[ind]);
command_interfaces.emplace_back(joint_name, "kp", &joint_kp_command_[ind]);
command_interfaces.emplace_back(joint_name, "kd", &joint_kd_command_[ind]);
ind++;
@ -108,7 +108,7 @@ std::vector<hardware_interface::CommandInterface> HardwareUnitree::export_comman
return command_interfaces;
}
return_type HardwareUnitree::read(const rclcpp::Time &time, const rclcpp::Duration &period) {
return_type HardwareUnitree::read(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) {
// joint states
for (int i(0); i < 12; ++i) {
joint_position_[i] = low_state_.motor_state()[i].q();
@ -131,7 +131,7 @@ return_type HardwareUnitree::read(const rclcpp::Time &time, const rclcpp::Durati
return return_type::OK;
}
return_type HardwareUnitree::write(const rclcpp::Time &, const rclcpp::Duration &) {
return_type HardwareUnitree::write(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) {
// send command
for (int i(0); i < 12; ++i) {
low_cmd_.motor_cmd()[i].mode() = 0x01;
@ -139,7 +139,7 @@ return_type HardwareUnitree::write(const rclcpp::Time &, const rclcpp::Duration
low_cmd_.motor_cmd()[i].dq() = static_cast<float>(joint_velocities_command_[i]);
low_cmd_.motor_cmd()[i].kp() = static_cast<float>(joint_kp_command_[i]);
low_cmd_.motor_cmd()[i].kd() = static_cast<float>(joint_kd_command_[i]);
low_cmd_.motor_cmd()[i].tau() = static_cast<float>(joint_effort_command_[i]);
low_cmd_.motor_cmd()[i].tau() = static_cast<float>(joint_torque_command_[i]);
}
low_cmd_.crc() = crc32_core(reinterpret_cast<uint32_t *>(&low_cmd_),