From 6385d8ed58bacfc670e04b34964dfb8f8c704c4e Mon Sep 17 00:00:00 2001 From: Huang Zhenbiao Date: Wed, 9 Oct 2024 21:17:45 +0800 Subject: [PATCH] add deep robotics lite3 --- .../lite3_description/CMakeLists.txt | 11 + .../deep_robotics/lite3_description/README.md | 50 + .../lite3_description/config/gazebo.yaml | 143 ++ .../lite3_description/config/ocs2/gait.info | 255 ++++ .../config/ocs2/reference.info | 46 + .../lite3_description/config/ocs2/task.info | 319 +++++ .../config/robot_control.yaml | 76 + .../config/visualize_urdf.rviz | 254 ++++ .../launch/gazebo_unitree_guide.launch.py | 106 ++ .../launch/unitree_guide.launch.py | 94 ++ .../launch/visualize.launch.py | 49 + .../lite3_description/meshes/FL_HIP.dae | 115 ++ .../lite3_description/meshes/FR_HIP.dae | 115 ++ .../lite3_description/meshes/HL_HIP.dae | 104 ++ .../lite3_description/meshes/HR_HIP.dae | 136 ++ .../lite3_description/meshes/Lite3.dae | 1263 +++++++++++++++++ .../lite3_description/meshes/SHANK.dae | 101 ++ .../lite3_description/meshes/l_thigh.dae | 149 ++ .../lite3_description/meshes/r_thigh.dae | 149 ++ .../lite3_description/package.xml | 18 + .../lite3_description/urdf/robot.urdf | 839 +++++++++++ .../lite3_description/xacro/body.xacro | 436 ++++++ .../lite3_description/xacro/gazebo.xacro | 195 +++ .../lite3_description/xacro/imu_link.xacro | 30 + .../lite3_description/xacro/robot.xacro | 16 + .../xacro/ros2_control.xacro | 176 +++ .../xacro/transmission.xacro | 129 ++ 27 files changed, 5374 insertions(+) create mode 100644 descriptions/deep_robotics/lite3_description/CMakeLists.txt create mode 100644 descriptions/deep_robotics/lite3_description/README.md create mode 100644 descriptions/deep_robotics/lite3_description/config/gazebo.yaml create mode 100644 descriptions/deep_robotics/lite3_description/config/ocs2/gait.info create mode 100644 descriptions/deep_robotics/lite3_description/config/ocs2/reference.info create mode 100644 descriptions/deep_robotics/lite3_description/config/ocs2/task.info create mode 100644 descriptions/deep_robotics/lite3_description/config/robot_control.yaml create mode 100644 descriptions/deep_robotics/lite3_description/config/visualize_urdf.rviz create mode 100644 descriptions/deep_robotics/lite3_description/launch/gazebo_unitree_guide.launch.py create mode 100644 descriptions/deep_robotics/lite3_description/launch/unitree_guide.launch.py create mode 100644 descriptions/deep_robotics/lite3_description/launch/visualize.launch.py create mode 100644 descriptions/deep_robotics/lite3_description/meshes/FL_HIP.dae create mode 100644 descriptions/deep_robotics/lite3_description/meshes/FR_HIP.dae create mode 100644 descriptions/deep_robotics/lite3_description/meshes/HL_HIP.dae create mode 100644 descriptions/deep_robotics/lite3_description/meshes/HR_HIP.dae create mode 100644 descriptions/deep_robotics/lite3_description/meshes/Lite3.dae create mode 100644 descriptions/deep_robotics/lite3_description/meshes/SHANK.dae create mode 100644 descriptions/deep_robotics/lite3_description/meshes/l_thigh.dae create mode 100644 descriptions/deep_robotics/lite3_description/meshes/r_thigh.dae create mode 100644 descriptions/deep_robotics/lite3_description/package.xml create mode 100644 descriptions/deep_robotics/lite3_description/urdf/robot.urdf create mode 100644 descriptions/deep_robotics/lite3_description/xacro/body.xacro create mode 100644 descriptions/deep_robotics/lite3_description/xacro/gazebo.xacro create mode 100644 descriptions/deep_robotics/lite3_description/xacro/imu_link.xacro create mode 100644 descriptions/deep_robotics/lite3_description/xacro/robot.xacro create mode 100644 descriptions/deep_robotics/lite3_description/xacro/ros2_control.xacro create mode 100644 descriptions/deep_robotics/lite3_description/xacro/transmission.xacro diff --git a/descriptions/deep_robotics/lite3_description/CMakeLists.txt b/descriptions/deep_robotics/lite3_description/CMakeLists.txt new file mode 100644 index 0000000..df485e3 --- /dev/null +++ b/descriptions/deep_robotics/lite3_description/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 3.8) +project(lite3_description) + +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY meshes xacro launch config urdf + DESTINATION share/${PROJECT_NAME}/ +) + +ament_package() \ No newline at end of file diff --git a/descriptions/deep_robotics/lite3_description/README.md b/descriptions/deep_robotics/lite3_description/README.md new file mode 100644 index 0000000..2304b90 --- /dev/null +++ b/descriptions/deep_robotics/lite3_description/README.md @@ -0,0 +1,50 @@ +# DeepRobotic Lite3 Description +This repository contains the urdf model of lite3. + +Tested environment: +* Ubuntu 24.04 + * ROS2 Jazzy + +## Build +```bash +cd ~/ros2_ws +colcon build --packages-up-to lite3_description --symlink-install +``` + +## Visualize the robot +To visualize and check the configuration of the robot in rviz, simply launch: +```bash +source ~/ros2_ws/install/setup.bash +ros2 launch lite3_description visualize.launch.py +``` + +## Launch ROS2 Control +### Mujoco Simulator +* Unitree Guide Controller + ```bash + source ~/ros2_ws/install/setup.bash + ros2 launch lite3_description unitree_guide.launch.py + ``` +* OCS2 Quadruped Controller + ```bash + source ~/ros2_ws/install/setup.bash + ros2 launch a1_description ocs2_control.launch.py + ``` +* Legged Gym Controller + ```bash + source ~/ros2_ws/install/setup.bash + ros2 launch a1_description rl_control.launch.py + ``` + + +### Gazebo Simulator +* Unitree Guide Controller + ```bash + source ~/ros2_ws/install/setup.bash + ros2 launch lite3_description gazebo_unitree_guide.launch.py + ``` +* Legged Gym Controller + ```bash + source ~/ros2_ws/install/setup.bash + ros2 launch lite3_description gazebo_rl_control.launch.py + ``` \ No newline at end of file diff --git a/descriptions/deep_robotics/lite3_description/config/gazebo.yaml b/descriptions/deep_robotics/lite3_description/config/gazebo.yaml new file mode 100644 index 0000000..04709ac --- /dev/null +++ b/descriptions/deep_robotics/lite3_description/config/gazebo.yaml @@ -0,0 +1,143 @@ +# Controller Manager configuration +controller_manager: + ros__parameters: + update_rate: 2000 # Hz + + # Define the available controllers + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + imu_sensor_broadcaster: + type: imu_sensor_broadcaster/IMUSensorBroadcaster + + leg_pd_controller: + type: leg_pd_controller/LegPdController + + unitree_guide_controller: + type: unitree_guide_controller/UnitreeGuideController + + legged_gym_controller: + type: legged_gym_controller/LeggedGymController + +imu_sensor_broadcaster: + ros__parameters: + sensor_name: "imu_sensor" + frame_id: "imu_link" + +leg_pd_controller: + ros__parameters: + joints: + - FR_HipX + - FR_HipY + - FR_Knee + - FL_HipX + - FL_HipY + - FL_Knee + - HR_HipX + - HR_HipY + - HR_Knee + - HL_HipX + - HL_HipY + - HL_Knee + + command_interfaces: + - effort + + state_interfaces: + - position + - velocity + +unitree_guide_controller: + ros__parameters: + update_rate: 200 # Hz + command_prefix: "leg_pd_controller" + joints: + - FR_HipX + - FR_HipY + - FR_Knee + - FL_HipX + - FL_HipY + - FL_Knee + - HR_HipX + - HR_HipY + - HR_Knee + - HL_HipX + - HL_HipY + - HL_Knee + + command_interfaces: + - effort + - position + - velocity + - kp + - kd + + state_interfaces: + - effort + - position + - velocity + + feet_names: + - FR_FOOT + - FL_FOOT + - HR_FOOT + - HL_FOOT + + imu_name: "imu_sensor" + base_name: "base" + + imu_interfaces: + - orientation.w + - orientation.x + - orientation.y + - orientation.z + - angular_velocity.x + - angular_velocity.y + - angular_velocity.z + - linear_acceleration.x + - linear_acceleration.y + - linear_acceleration.z + +legged_gym_controller: + ros__parameters: + update_rate: 200 # Hz + config_folder: "/home/tlab-uav/ros2_ws/install/a1_description/share/a1_description/config/issacgym" + command_prefix: "leg_pd_controller" + joints: + - FL_hip_joint + - FL_thigh_joint + - FL_calf_joint + - FR_hip_joint + - FR_thigh_joint + - FR_calf_joint + - RL_hip_joint + - RL_thigh_joint + - RL_calf_joint + - RR_hip_joint + - RR_thigh_joint + - RR_calf_joint + + command_interfaces: + - effort + - 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 \ No newline at end of file diff --git a/descriptions/deep_robotics/lite3_description/config/ocs2/gait.info b/descriptions/deep_robotics/lite3_description/config/ocs2/gait.info new file mode 100644 index 0000000..6ea163b --- /dev/null +++ b/descriptions/deep_robotics/lite3_description/config/ocs2/gait.info @@ -0,0 +1,255 @@ +list +{ + [0] stance + [1] trot + [2] standing_trot + [3] flying_trot + [4] pace + [5] standing_pace + [6] dynamic_walk + [7] static_walk + [8] amble + [9] lindyhop + [10] skipping + [11] pawup +} + +stance + { + modeSequence + { + [0] STANCE + } + switchingTimes + { + [0] 0.0 + [1] 0.5 + } +} + +trot + { + modeSequence + { + [0] LF_RH + [1] RF_LH + } + switchingTimes + { + [0] 0.0 + [1] 0.3 + [2] 0.6 + } +} + +standing_trot +{ + modeSequence + { + [0] LF_RH + [1] STANCE + [2] RF_LH + [3] STANCE + } + switchingTimes + { + [0] 0.00 + [1] 0.25 + [2] 0.3 + [3] 0.55 + [4] 0.6 + } +} + +flying_trot +{ + modeSequence + { + [0] LF_RH + [1] FLY + [2] RF_LH + [3] FLY + } + switchingTimes + { + [0] 0.00 + [1] 0.15 + [2] 0.2 + [3] 0.35 + [4] 0.4 + } +} + +pace +{ + modeSequence + { + [0] LF_LH + [1] FLY + [2] RF_RH + [3] FLY + } + switchingTimes + { + [0] 0.0 + [1] 0.28 + [2] 0.30 + [3] 0.58 + [4] 0.60 + } +} + +standing_pace +{ + modeSequence + { + [0] LF_LH + [1] STANCE + [2] RF_RH + [3] STANCE + } + switchingTimes + { + [0] 0.0 + [1] 0.30 + [2] 0.35 + [3] 0.65 + [4] 0.70 + } +} + +dynamic_walk +{ + modeSequence + { + [0] LF_RF_RH + [1] RF_RH + [2] RF_LH_RH + [3] LF_RF_LH + [4] LF_LH + [5] LF_LH_RH + } + switchingTimes + { + [0] 0.0 + [1] 0.2 + [2] 0.3 + [3] 0.5 + [4] 0.7 + [5] 0.8 + [6] 1.0 + } +} + +static_walk +{ + modeSequence + { + [0] LF_RF_RH + [1] RF_LH_RH + [2] LF_RF_LH + [3] LF_LH_RH + } + switchingTimes + { + [0] 0.0 + [1] 0.3 + [2] 0.6 + [3] 0.9 + [4] 1.2 + } +} + +amble +{ + modeSequence + { + [0] RF_LH + [1] LF_LH + [2] LF_RH + [3] RF_RH + } + switchingTimes + { + [0] 0.0 + [1] 0.15 + [2] 0.40 + [3] 0.55 + [4] 0.80 + } +} + +lindyhop +{ + modeSequence + { + [0] LF_RH + [1] STANCE + [2] RF_LH + [3] STANCE + [4] LF_LH + [5] RF_RH + [6] LF_LH + [7] STANCE + [8] RF_RH + [9] LF_LH + [10] RF_RH + [11] STANCE + } + switchingTimes + { + [0] 0.00 ; Step 1 + [1] 0.35 ; Stance + [2] 0.45 ; Step 2 + [3] 0.80 ; Stance + [4] 0.90 ; Tripple step + [5] 1.125 ; + [6] 1.35 ; + [7] 1.70 ; Stance + [8] 1.80 ; Tripple step + [9] 2.025 ; + [10] 2.25 ; + [11] 2.60 ; Stance + [12] 2.70 ; + } +} + +skipping +{ + modeSequence + { + [0] LF_RH + [1] FLY + [2] LF_RH + [3] FLY + [4] RF_LH + [5] FLY + [6] RF_LH + [7] FLY + } + switchingTimes + { + [0] 0.00 + [1] 0.27 + [2] 0.30 + [3] 0.57 + [4] 0.60 + [5] 0.87 + [6] 0.90 + [7] 1.17 + [8] 1.20 + } +} + +pawup +{ + modeSequence + { + [0] RF_LH_RH + } + switchingTimes + { + [0] 0.0 + [1] 2.0 + } +} diff --git a/descriptions/deep_robotics/lite3_description/config/ocs2/reference.info b/descriptions/deep_robotics/lite3_description/config/ocs2/reference.info new file mode 100644 index 0000000..2f69c51 --- /dev/null +++ b/descriptions/deep_robotics/lite3_description/config/ocs2/reference.info @@ -0,0 +1,46 @@ +targetDisplacementVelocity 0.5; +targetRotationVelocity 1.57; + +comHeight 0.33 + +defaultJointState +{ + (0,0) -0.20 ; FL_hip_joint + (1,0) 0.72 ; FL_thigh_joint + (2,0) -1.44 ; FL_calf_joint + (3,0) 0.20 ; FR_hip_joint + (4,0) 0.72 ; FR_thigh_joint + (5,0) -1.44 ; FR_calf_joint + (6,0) -0.20 ; RL_hip_joint + (7,0) 0.72 ; RL_thigh_joint + (8,0) -1.44 ; RL_calf_joint + (9,0) 0.20 ; RR_hip_joint + (10,0) 0.72 ; RR_thigh_joint + (11,0) -1.44 ; RR_calf_joint +} + +initialModeSchedule +{ + modeSequence + { + [0] STANCE + [1] STANCE + } + eventTimes + { + [0] 0.5 + } +} + +defaultModeSequenceTemplate +{ + modeSequence + { + [0] STANCE + } + switchingTimes + { + [0] 0.0 + [1] 1.0 + } +} diff --git a/descriptions/deep_robotics/lite3_description/config/ocs2/task.info b/descriptions/deep_robotics/lite3_description/config/ocs2/task.info new file mode 100644 index 0000000..93f5ce4 --- /dev/null +++ b/descriptions/deep_robotics/lite3_description/config/ocs2/task.info @@ -0,0 +1,319 @@ +centroidalModelType 0 // 0: FullCentroidalDynamics, 1: Single Rigid Body Dynamics + +legged_robot_interface +{ + verbose false // show the loaded parameters +} + +model_settings +{ + positionErrorGain 0.0 + phaseTransitionStanceTime 0.1 + + verboseCppAd true + recompileLibrariesCppAd false + modelFolderCppAd /tmp/ocs2_quadruped_controller/a1 +} + +swing_trajectory_config +{ + liftOffVelocity 0.05 + touchDownVelocity -0.1 + swingHeight 0.1 + swingTimeScale 0.15 +} + +; DDP settings +ddp +{ + algorithm SLQ + + nThreads 3 + threadPriority 50 + + maxNumIterations 1 + minRelCost 1e-1 + constraintTolerance 5e-3 + + displayInfo false + displayShortSummary false + checkNumericalStability false + debugPrintRollout false + debugCaching false + + AbsTolODE 1e-5 + RelTolODE 1e-3 + maxNumStepsPerSecond 10000 + timeStep 0.015 + backwardPassIntegratorType ODE45 + + constraintPenaltyInitialValue 20.0 + constraintPenaltyIncreaseRate 2.0 + + preComputeRiccatiTerms true + + useFeedbackPolicy false + + strategy LINE_SEARCH + lineSearch + { + minStepLength 1e-2 + maxStepLength 1.0 + hessianCorrectionStrategy DIAGONAL_SHIFT + hessianCorrectionMultiple 1e-5 + } +} + + +; Multiple_Shooting SQP settings +sqp +{ + nThreads 3 + dt 0.015 + sqpIteration 1 + deltaTol 1e-4 + g_max 1e-2 + g_min 1e-6 + inequalityConstraintMu 0.1 + inequalityConstraintDelta 5.0 + projectStateInputEqualityConstraints true + printSolverStatistics true + printSolverStatus false + printLinesearch false + useFeedbackPolicy false + integratorType RK2 + threadPriority 50 +} + +; Multiple_Shooting IPM settings +ipm +{ + nThreads 3 + dt 0.015 + ipmIteration 1 + deltaTol 1e-4 + g_max 10.0 + g_min 1e-6 + computeLagrangeMultipliers true + printSolverStatistics true + printSolverStatus false + printLinesearch false + useFeedbackPolicy false + integratorType RK2 + threadPriority 50 + + initialBarrierParameter 1e-4 + targetBarrierParameter 1e-4 + barrierLinearDecreaseFactor 0.2 + barrierSuperlinearDecreasePower 1.5 + barrierReductionCostTol 1e-3 + barrierReductionConstraintTol 1e-3 + + fractionToBoundaryMargin 0.995 + usePrimalStepSizeForDual false + + initialSlackLowerBound 1e-4 + initialDualLowerBound 1e-4 + initialSlackMarginRate 1e-2 + initialDualMarginRate 1e-2 +} + +; Rollout settings +rollout +{ + AbsTolODE 1e-5 + RelTolODE 1e-3 + timeStep 0.015 + integratorType ODE45 + maxNumStepsPerSecond 10000 + checkNumericalStability false +} + +mpc +{ + timeHorizon 1.0 ; [s] + solutionTimeWindow -1 ; maximum [s] + coldStart false + + debugPrint false + + mpcDesiredFrequency 100 ; [Hz] + mrtDesiredFrequency 1000 ; [Hz] Useless +} + +initialState +{ + ;; Normalized Centroidal Momentum: [linear, angular] ;; + (0,0) 0.0 ; vcom_x + (1,0) 0.0 ; vcom_y + (2,0) 0.0 ; vcom_z + (3,0) 0.0 ; L_x / robotMass + (4,0) 0.0 ; L_y / robotMass + (5,0) 0.0 ; L_z / robotMass + + ;; Base Pose: [position, orientation] ;; + (6,0) 0.0 ; p_base_x + (7,0) 0.0 ; p_base_y + (8,0) 0.33 ; p_base_z + (9,0) 0.0 ; theta_base_z + (10,0) 0.0 ; theta_base_y + (11,0) 0.0 ; theta_base_x + + ;; Leg Joint Positions: [FL, RL, FR, RR] ;; + (12,0) -0.20 ; FL_hip_joint + (13,0) 0.72 ; FL_thigh_joint + (14,0) -1.44 ; FL_calf_joint + (15,0) -0.20 ; RL_hip_joint + (16,0) 0.72 ; RL_thigh_joint + (17,0) -1.44 ; RL_calf_joint + (18,0) 0.20 ; FR_hip_joint + (19,0) 0.72 ; FR_thigh_joint + (20,0) -1.44 ; FR_calf_joint + (21,0) 0.20 ; RR_hip_joint + (22,0) 0.72 ; RR_thigh_joint + (23,0) -1.44 ; RR_calf_joint +} + +; standard state weight matrix +Q +{ + scaling 1e+0 + + ;; Normalized Centroidal Momentum: [linear, angular] ;; + (0,0) 15.0 ; vcom_x + (1,1) 15.0 ; vcom_y + (2,2) 100.0 ; vcom_z + (3,3) 10.0 ; L_x / robotMass + (4,4) 30.0 ; L_y / robotMass + (5,5) 30.0 ; L_z / robotMass + + ;; Base Pose: [position, orientation] ;; + (6,6) 1000.0 ; p_base_x + (7,7) 1000.0 ; p_base_y + (8,8) 1500.0 ; p_base_z + (9,9) 100.0 ; theta_base_z + (10,10) 300.0 ; theta_base_y + (11,11) 300.0 ; theta_base_x + + ;; Leg Joint Positions: [FL, RL, FR, RR] ;; + (12,12) 5.0 ; FL_hip_joint + (13,13) 5.0 ; FL_thigh_joint + (14,14) 2.5 ; FL_calf_joint + (15,15) 5.0 ; RL_hip_joint + (16,16) 5.0 ; RL_thigh_joint + (17,17) 2.5 ; RL_calf_joint + (18,18) 5.0 ; FR_hip_joint + (19,19) 5.0 ; FR_thigh_joint + (20,20) 2.5 ; FR_calf_joint + (21,21) 5.0 ; RR_hip_joint + (22,22) 5.0 ; RR_thigh_joint + (23,23) 2.5 ; RR_calf_joint +} + +; control weight matrix +R +{ + scaling 1e-3 + + ;; Feet Contact Forces: [FL, FR, RL, RR] ;; + (0,0) 1.0 ; front_left_force + (1,1) 1.0 ; front_left_force + (2,2) 1.0 ; front_left_force + (3,3) 1.0 ; front_right_force + (4,4) 1.0 ; front_right_force + (5,5) 1.0 ; front_right_force + (6,6) 1.0 ; rear_left_force + (7,7) 1.0 ; rear_left_force + (8,8) 1.0 ; rear_left_force + (9,9) 1.0 ; rear_right_force + (10,10) 1.0 ; rear_right_force + (11,11) 1.0 ; rear_right_force + + ;; foot velocity relative to base: [FL, RL, FR, RR] (uses the Jacobian at nominal configuration) ;; + (12,12) 5000.0 ; x + (13,13) 5000.0 ; y + (14,14) 5000.0 ; z + (15,15) 5000.0 ; x + (16,16) 5000.0 ; y + (17,17) 5000.0 ; z + (18,18) 5000.0 ; x + (19,19) 5000.0 ; y + (20,20) 5000.0 ; z + (21,21) 5000.0 ; x + (22,22) 5000.0 ; y + (23,23) 5000.0 ; z +} + +frictionConeSoftConstraint +{ + frictionCoefficient 0.3 + + ; relaxed log barrier parameters + mu 0.1 + delta 5.0 +} + +selfCollision +{ + ; Self Collision raw object pairs + collisionObjectPairs + { + } + + ; Self Collision pairs + collisionLinkPairs + { + [0] "FL_calf, FR_calf" + [1] "RL_calf, RR_calf" + [2] "FL_calf, RL_calf" + [3] "FR_calf, RR_calf" + [4] "FL_foot, FR_foot" + [5] "RL_foot, RR_foot" + [6] "FL_foot, RL_foot" + [7] "FR_foot, RR_foot" + } + + minimumDistance 0.05 + + ; relaxed log barrier parameters + mu 1e-2 + delta 1e-3 +} + +; Whole body control +torqueLimitsTask +{ + (0,0) 33.5 ; HAA + (1,0) 33.5 ; HFE + (2,0) 33.5 ; KFE +} + +frictionConeTask +{ + frictionCoefficient 0.3 +} + +swingLegTask +{ + kp 350 + kd 37 +} + +weight +{ + swingLeg 100 + baseAccel 1 + contactForce 0.01 +} + +; State Estimation +kalmanFilter +{ + footRadius 0.02 + imuProcessNoisePosition 0.02 + imuProcessNoiseVelocity 0.02 + footProcessNoisePosition 0.002 + footSensorNoisePosition 0.005 + footSensorNoiseVelocity 0.1 + footHeightSensorNoise 0.01 +} diff --git a/descriptions/deep_robotics/lite3_description/config/robot_control.yaml b/descriptions/deep_robotics/lite3_description/config/robot_control.yaml new file mode 100644 index 0000000..98eecf8 --- /dev/null +++ b/descriptions/deep_robotics/lite3_description/config/robot_control.yaml @@ -0,0 +1,76 @@ +# Controller Manager configuration +controller_manager: + ros__parameters: + update_rate: 500 # Hz + + # Define the available controllers + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + imu_sensor_broadcaster: + type: imu_sensor_broadcaster/IMUSensorBroadcaster + + unitree_guide_controller: + type: unitree_guide_controller/UnitreeGuideController + + ocs2_quadruped_controller: + type: ocs2_quadruped_controller/Ocs2QuadrupedController + + legged_gym_controller: + type: legged_gym_controller/LeggedGymController + +imu_sensor_broadcaster: + ros__parameters: + sensor_name: "imu_sensor" + frame_id: "imu_link" + + +unitree_guide_controller: + ros__parameters: + update_rate: 500 # Hz + joints: + - FR_HipX + - FR_HipY + - FR_Knee + - FL_HipX + - FL_HipY + - FL_Knee + - HR_HipX + - HR_HipY + - HR_Knee + - HL_HipX + - HL_HipY + - HL_Knee + + command_interfaces: + - effort + - position + - velocity + - kp + - kd + + state_interfaces: + - effort + - position + - velocity + + feet_names: + - FR_FOOT + - FL_FOOT + - HR_FOOT + - HL_FOOT + + imu_name: "imu_sensor" + base_name: "base" + + imu_interfaces: + - orientation.w + - orientation.x + - orientation.y + - orientation.z + - angular_velocity.x + - angular_velocity.y + - angular_velocity.z + - linear_acceleration.x + - linear_acceleration.y + - linear_acceleration.z \ No newline at end of file diff --git a/descriptions/deep_robotics/lite3_description/config/visualize_urdf.rviz b/descriptions/deep_robotics/lite3_description/config/visualize_urdf.rviz new file mode 100644 index 0000000..d6d4e73 --- /dev/null +++ b/descriptions/deep_robotics/lite3_description/config/visualize_urdf.rviz @@ -0,0 +1,254 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + Splitter Ratio: 0.5 + Tree Height: 295 + - 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: + 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_FOOT: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_HIP: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_SHANK: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FL_THIGH: + 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_SHANK: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + FR_THIGH: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + HL_FOOT: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + HL_HIP: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + HL_SHANK: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + HL_THIGH: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + HR_FOOT: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + HR_HIP: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + HR_SHANK: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + HR_THIGH: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + INERTIA: + Alpha: 1 + Show Axes: false + Show Trail: false + Link Tree Style: Links in Alphabetic Order + TORSO: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + 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 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: TORSO + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 1.1684969663619995 + 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: 0.42539793252944946 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.6953961849212646 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 691 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 955 + X: 773 + Y: 168 diff --git a/descriptions/deep_robotics/lite3_description/launch/gazebo_unitree_guide.launch.py b/descriptions/deep_robotics/lite3_description/launch/gazebo_unitree_guide.launch.py new file mode 100644 index 0000000..22f16bd --- /dev/null +++ b/descriptions/deep_robotics/lite3_description/launch/gazebo_unitree_guide.launch.py @@ -0,0 +1,106 @@ +import os + +import xacro +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, OpaqueFunction, IncludeLaunchDescription, RegisterEventHandler +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.event_handlers import OnProcessExit +from launch.substitutions import PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + +package_description = "lite3_description" + + +def process_xacro(): + pkg_path = os.path.join(get_package_share_directory(package_description)) + xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro') + robot_description_config = xacro.process_file(xacro_file, mappings={'GAZEBO': 'true'}) + return robot_description_config.toxml() + + +def generate_launch_description(): + rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz") + + robot_description = process_xacro() + + gz_spawn_entity = Node( + package='ros_gz_sim', + executable='create', + output='screen', + arguments=['-topic', 'robot_description', '-name', + 'lite3', '-allow_renaming', 'true', '-z', '0.4'], + ) + + robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + parameters=[ + { + 'publish_frequency': 20.0, + 'use_tf_static': True, + 'robot_description': robot_description, + 'ignore_timestamp': True + } + ], + ) + + joint_state_publisher = Node( + package="controller_manager", + executable="spawner", + arguments=["joint_state_broadcaster", + "--controller-manager", "/controller_manager"], + ) + + imu_sensor_broadcaster = Node( + package="controller_manager", + executable="spawner", + arguments=["imu_sensor_broadcaster", + "--controller-manager", "/controller_manager"], + ) + + leg_pd_controller = Node( + package="controller_manager", + executable="spawner", + arguments=["leg_pd_controller", + "--controller-manager", "/controller_manager"], + ) + + unitree_guide_controller = Node( + package="controller_manager", + executable="spawner", + arguments=["unitree_guide_controller", "--controller-manager", "/controller_manager"], + ) + + return LaunchDescription([ + Node( + package='rviz2', + executable='rviz2', + name='rviz_ocs2', + output='screen', + arguments=["-d", rviz_config_file] + ), + Node( + package='ros_gz_bridge', + executable='parameter_bridge', + arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'], + output='screen' + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [PathJoinSubstitution([FindPackageShare('ros_gz_sim'), + 'launch', + 'gz_sim.launch.py'])]), + launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]), + robot_state_publisher, + gz_spawn_entity, + leg_pd_controller, + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=leg_pd_controller, + on_exit=[imu_sensor_broadcaster, joint_state_publisher, unitree_guide_controller], + ) + ), + ]) diff --git a/descriptions/deep_robotics/lite3_description/launch/unitree_guide.launch.py b/descriptions/deep_robotics/lite3_description/launch/unitree_guide.launch.py new file mode 100644 index 0000000..825dab9 --- /dev/null +++ b/descriptions/deep_robotics/lite3_description/launch/unitree_guide.launch.py @@ -0,0 +1,94 @@ +import os + +import xacro +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, OpaqueFunction, IncludeLaunchDescription, RegisterEventHandler +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.event_handlers import OnProcessExit +from launch.substitutions import PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + +package_description = "lite3_description" + + +def process_xacro(): + pkg_path = os.path.join(get_package_share_directory(package_description)) + xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro') + robot_description_config = xacro.process_file(xacro_file) + return robot_description_config.toxml() + + +def generate_launch_description(): + rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz") + + robot_description = process_xacro() + + robot_controllers = PathJoinSubstitution( + [ + FindPackageShare(package_description), + "config", + "robot_control.yaml", + ] + ) + + controller_manager = Node( + package="controller_manager", + executable="ros2_control_node", + parameters=[robot_controllers], + output="both", + ) + + robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + parameters=[ + { + 'publish_frequency': 20.0, + 'use_tf_static': True, + 'robot_description': robot_description, + 'ignore_timestamp': True + } + ], + ) + + joint_state_publisher = Node( + package="controller_manager", + executable="spawner", + arguments=["joint_state_broadcaster", + "--controller-manager", "/controller_manager"], + ) + + imu_sensor_broadcaster = Node( + package="controller_manager", + executable="spawner", + arguments=["imu_sensor_broadcaster", + "--controller-manager", "/controller_manager"], + ) + + unitree_guide_controller = Node( + package="controller_manager", + executable="spawner", + arguments=["unitree_guide_controller", "--controller-manager", "/controller_manager"], + ) + + return LaunchDescription([ + Node( + package='rviz2', + executable='rviz2', + name='rviz_ocs2', + output='screen', + arguments=["-d", rviz_config_file] + ), + robot_state_publisher, + controller_manager, + joint_state_publisher, + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=joint_state_publisher, + on_exit=[imu_sensor_broadcaster, unitree_guide_controller], + ) + ), + ]) diff --git a/descriptions/deep_robotics/lite3_description/launch/visualize.launch.py b/descriptions/deep_robotics/lite3_description/launch/visualize.launch.py new file mode 100644 index 0000000..0647837 --- /dev/null +++ b/descriptions/deep_robotics/lite3_description/launch/visualize.launch.py @@ -0,0 +1,49 @@ +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch_ros.actions import Node + +import xacro + +package_description = "lite3_description" + +def process_xacro(): + pkg_path = os.path.join(get_package_share_directory(package_description)) + xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro') + robot_description_config = xacro.process_file(xacro_file) + return robot_description_config.toxml() +def generate_launch_description(): + + rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz") + robot_description = process_xacro() + + return LaunchDescription([ + Node( + package='rviz2', + executable='rviz2', + name='rviz_ocs2', + output='screen', + arguments=["-d", rviz_config_file] + ), + Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + output='screen', + parameters=[ + { + 'publish_frequency': 100.0, + 'use_tf_static': True, + 'robot_description': robot_description + } + ], + ), + Node( + package='joint_state_publisher_gui', + executable='joint_state_publisher_gui', + name='joint_state_publisher', + output='screen', + ) + ]) \ No newline at end of file diff --git a/descriptions/deep_robotics/lite3_description/meshes/FL_HIP.dae b/descriptions/deep_robotics/lite3_description/meshes/FL_HIP.dae new file mode 100644 index 0000000..5161104 --- /dev/null +++ b/descriptions/deep_robotics/lite3_description/meshes/FL_HIP.dae @@ -0,0 +1,115 @@ + + + + + Blender User + Blender 3.5.0 commit date:2023-03-29, commit time:02:56, hash:1be25cfff18b + + 2023-04-28T15:23:21 + 2023-04-28T15:23:21 + + Z_UP + + + + + + + + 0 0 0 1 + + + 1 1 1 1 + + + 1.45 + + + + + + + + + + + + + + + + + 0.005298793 -0.01563036 -0.007320463 -0.002401053 0.02703988 0.0516414 -0.04570102 -0.03019833 0.0353564 0.005598783 -0.02137136 -0.001816451 -0.009701073 0.02064687 0.05136239 0.005046784 0.003222346 -0.02269548 -0.04370105 -0.02689534 0.03960841 -0.03610104 -0.01951134 0.00901848 0.005598783 0.02937561 0.02800947 0.01059871 -0.02350831 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5065 18284 339 5059 18285 1093 5092 18286 970 5152 18287 1126 5166 18288 282 5166 18289 2190 5166 18290 2373 5167 18291 13 5167 18292 1586 5167 18293 1023 5053 18294 816 5052 18295 2494 5139 18296 546 5107 18297 283 5168 18298 2413 5074 18299 103 5057 18300 95 5169 18301 2842 5137 18302 283 5168 18303 289 5170 18304 850 5072 18305 1526 5140 18306 2858 5102 18307 855 5150 18308 688 5128 18309 2204 5091 18310 1138 5075 18311 459 5029 18312 1218 5038 18313 13 5049 18314 2308 5101 18315 1688 5077 18316 2861 5127 18317 403 5171 18318 2181 5096 18319 2361 5161 18320 943 5172 18321 365 5172 18322 2641 5172 18323 817 5173 18324 703 5173 18325 865 5173 18326 95 5165 18327 2252 5164 18328 602 5174 18329 1126 5175 18330 1431 5175 18331 282 5175 18332 102 5036 18333 103 5057 18334 1301 5094 18335 850 5072 18336 2015 5079 18337 2776 5073 18338 1371 5100 18339 2121 5099 18340 796 5055 18341 1568 5076 18342 1547 5065 18343 1688 5077 18344 546 5107 18345 2413 5074 18346 1371 5100 18347 1448 5031 18348 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5199 18478 1669 5199 18479 986 5063 18480 1483 5045 18481 2885 5118 18482 2885 5118 18483 1483 5045 18484 2379 5047 18485 339 5059 18486 1483 5045 18487 1093 5092 18488 2594 5028 18489 1218 5038 18490 459 5029 18491 1178 5112 18492 1331 5113 18493 1002 5033 18494 1378 5040 18495 240 5200 18496 2542 5041 18497 680 5190 18498 1126 5201 18499 2190 5191 18500 249 5117 18501 997 5097 18502 970 5152 18503 36 5062 18504 1816 5119 18505 863 5159 18506 855 5150 18507 796 5055 18508 2121 5099 18509 2751 5138 18510 1627 5155 18511 1581 5087 18512 2138 5141 18513 1138 5075 18514 2308 5101 18515 855 5150 18516 368 5125 18517 1273 5026 18518 102 5036 18519 933 5035 18520 242 5056 18521 66 5149 18522 1845 5088 18523 863 5090 18524 458 5109 18525 240 5202 18526 242 5056 18527 1536 5043 18528 326 5203 18529 2460 5044 18530 943 5098 18531 249 5117 18532 250 5121 18533 2138 5141 18534 140 5129 18535 688 5128 18536 2204 5091 18537 817 5130 18538 1816 5119 18539 2138 5141 18540 688 5128 18541 1138 5075 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