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quadruped_ros2_control
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add more support for gazebo classic simulationn

This commit is contained in:
Huang Zhenbiao 2024-10-24 15:05:26 +08:00
parent a6080328e0
commit 834ba68d4b
46 changed files with 3574 additions and 1961 deletions
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14
controllers/unitree_guide_controller/launch/gazebo_classic.launch.py
View File

@ -10,13 +10,10 @@ from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare from launch_ros.substitutions import FindPackageShare
from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.launch_description_sources import PythonLaunchDescriptionSource
package_description = "go2_description"
def launch_setup(context, *args, **kwargs): def launch_setup(context, *args, **kwargs):
package_description = context.launch_configurations['pkg_description'] package_description = context.launch_configurations['pkg_description']
init_height = context.launch_configurations['height']
pkg_path = os.path.join(get_package_share_directory(package_description)) pkg_path = os.path.join(get_package_share_directory(package_description))
xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro') xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
@ -42,7 +39,7 @@ def launch_setup(context, *args, **kwargs):
spawn_entity = Node( spawn_entity = Node(
package="gazebo_ros", package="gazebo_ros",
executable="spawn_entity.py", executable="spawn_entity.py",
arguments=["-topic", "robot_description", "-entity", "robot", "-z", "0.5"], arguments=["-topic", "robot_description", "-entity", "robot", "-z", init_height],
output="screen", output="screen",
) )
@ -109,7 +106,14 @@ def generate_launch_description():
description='package for robot description' description='package for robot description'
) )
height = DeclareLaunchArgument(
'height',
default_value='0.5',
description='Init height in simulation'
)
return LaunchDescription([ return LaunchDescription([
pkg_description, pkg_description,
height,
OpaqueFunction(function=launch_setup), OpaqueFunction(function=launch_setup),
]) ])

10
descriptions/deep_robotics/lite3_description/README.md
View File

@ -45,7 +45,15 @@ ros2 launch lite3_description visualize.launch.py
ros2 launch rl_quadruped_controller mujoco.launch.py pkg_description:=lite3_description model_folder:=legged_gym ros2 launch rl_quadruped_controller mujoco.launch.py pkg_description:=lite3_description model_folder:=legged_gym
``` ```
### Gazebo Simulator ### Gazebo Classic 11 (ROS2 Humble)
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo_classic.launch.py pkg_description:=lite3_description
```
### Gazebo Harmonic (ROS2 Jazzy)
* Unitree Guide Controller * Unitree Guide Controller
```bash ```bash

5
descriptions/deep_robotics/lite3_description/config/gazebo.yaml
View File

@ -1,7 +1,7 @@
# Controller Manager configuration # Controller Manager configuration
controller_manager: controller_manager:
ros__parameters: ros__parameters:
update_rate: 2000 # Hz update_rate: 1000 # Hz
# Define the available controllers # Define the available controllers
joint_state_broadcaster: joint_state_broadcaster:
@ -26,6 +26,7 @@ imu_sensor_broadcaster:
leg_pd_controller: leg_pd_controller:
ros__parameters: ros__parameters:
update_rate: 1000 # Hz
joints: joints:
- FR_HipX - FR_HipX
- FR_HipY - FR_HipY
@ -50,6 +51,8 @@ leg_pd_controller:
unitree_guide_controller: unitree_guide_controller:
ros__parameters: ros__parameters:
update_rate: 200 # Hz update_rate: 200 # Hz
# stand_kp: 30.0
stand_kd: 1.0
command_prefix: "leg_pd_controller" command_prefix: "leg_pd_controller"
joints: joints:
- FR_HipX - FR_HipX

15
descriptions/deep_robotics/lite3_description/xacro/body.xacro
View File

@ -2,6 +2,9 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="damping" value="0.1"/>
<xacro:property name="friction" value="0.1"/>
<xacro:include filename="$(find lite3_description)/xacro/imu_link.xacro"/> <xacro:include filename="$(find lite3_description)/xacro/imu_link.xacro"/>
<link name="base"> <link name="base">
@ -66,6 +69,7 @@
<parent link="TORSO"/> <parent link="TORSO"/>
<child link="FL_HIP"/> <child link="FL_HIP"/>
<axis xyz="-1 0 0"/> <axis xyz="-1 0 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit lower="-0.42" upper="0.42" effort="24" velocity="26"/> <limit lower="-0.42" upper="0.42" effort="24" velocity="26"/>
</joint> </joint>
@ -94,6 +98,7 @@
<parent link="FL_HIP"/> <parent link="FL_HIP"/>
<child link="FL_THIGH"/> <child link="FL_THIGH"/>
<axis xyz="0 -1 0"/> <axis xyz="0 -1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit lower="-2.67" upper="0.314" effort="24" velocity="26"/> <limit lower="-2.67" upper="0.314" effort="24" velocity="26"/>
</joint> </joint>
@ -122,6 +127,7 @@
<parent link="FL_THIGH"/> <parent link="FL_THIGH"/>
<child link="FL_SHANK"/> <child link="FL_SHANK"/>
<axis xyz="0 -1 0"/> <axis xyz="0 -1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit lower="0.6" upper="2.72" effort="36" velocity="17"/> <limit lower="0.6" upper="2.72" effort="36" velocity="17"/>
</joint> </joint>
@ -163,6 +169,7 @@
<parent link="TORSO"/> <parent link="TORSO"/>
<child link="FR_HIP"/> <child link="FR_HIP"/>
<axis xyz="-1 0 0"/> <axis xyz="-1 0 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit lower="-0.42" upper="0.42" effort="24" velocity="26"/> <limit lower="-0.42" upper="0.42" effort="24" velocity="26"/>
</joint> </joint>
@ -191,6 +198,7 @@
<parent link="FR_HIP"/> <parent link="FR_HIP"/>
<child link="FR_THIGH"/> <child link="FR_THIGH"/>
<axis xyz="0 -1 0"/> <axis xyz="0 -1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit lower="-2.67" upper="0.314" effort="24" velocity="26"/> <limit lower="-2.67" upper="0.314" effort="24" velocity="26"/>
</joint> </joint>
@ -219,6 +227,7 @@
<parent link="FR_THIGH"/> <parent link="FR_THIGH"/>
<child link="FR_SHANK"/> <child link="FR_SHANK"/>
<axis xyz="0 -1 0"/> <axis xyz="0 -1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit lower="0.6" upper="2.72" effort="36" velocity="17"/> <limit lower="0.6" upper="2.72" effort="36" velocity="17"/>
</joint> </joint>
@ -259,6 +268,7 @@
<parent link="TORSO"/> <parent link="TORSO"/>
<child link="HL_HIP"/> <child link="HL_HIP"/>
<axis xyz="-1 0 0"/> <axis xyz="-1 0 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit lower="-0.42" upper="0.42" effort="24" velocity="26"/> <limit lower="-0.42" upper="0.42" effort="24" velocity="26"/>
</joint> </joint>
@ -287,6 +297,7 @@
<parent link="HL_HIP"/> <parent link="HL_HIP"/>
<child link="HL_THIGH"/> <child link="HL_THIGH"/>
<axis xyz="0 -1 0"/> <axis xyz="0 -1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit lower="-2.67" upper="0.314" effort="24" velocity="26"/> <limit lower="-2.67" upper="0.314" effort="24" velocity="26"/>
</joint> </joint>
@ -315,6 +326,7 @@
<parent link="HL_THIGH"/> <parent link="HL_THIGH"/>
<child link="HL_SHANK"/> <child link="HL_SHANK"/>
<axis xyz="0 -1 0"/> <axis xyz="0 -1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit lower="0.6" upper="2.72" effort="36" velocity="17"/> <limit lower="0.6" upper="2.72" effort="36" velocity="17"/>
</joint> </joint>
@ -355,6 +367,7 @@
<parent link="TORSO"/> <parent link="TORSO"/>
<child link="HR_HIP"/> <child link="HR_HIP"/>
<axis xyz="-1 0 0"/> <axis xyz="-1 0 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit lower="-0.42" upper="0.42" effort="24" velocity="26"/> <limit lower="-0.42" upper="0.42" effort="24" velocity="26"/>
</joint> </joint>
@ -383,6 +396,7 @@
<parent link="HR_HIP"/> <parent link="HR_HIP"/>
<child link="HR_THIGH"/> <child link="HR_THIGH"/>
<axis xyz="0 -1 0"/> <axis xyz="0 -1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit lower="-2.67" upper="0.314" effort="24" velocity="26"/> <limit lower="-2.67" upper="0.314" effort="24" velocity="26"/>
</joint> </joint>
@ -411,6 +425,7 @@
<parent link="HR_THIGH"/> <parent link="HR_THIGH"/>
<child link="HR_SHANK"/> <child link="HR_SHANK"/>
<axis xyz="0 -1 0"/> <axis xyz="0 -1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit lower="0.6" upper="2.72" effort="36" velocity="17"/> <limit lower="0.6" upper="2.72" effort="36" velocity="17"/>
</joint> </joint>

7
descriptions/deep_robotics/lite3_description/xacro/gazebo.xacro
View File

@ -117,13 +117,6 @@
<mu1>0.6</mu1> <mu1>0.6</mu1>
<mu2>0.6</mu2> <mu2>0.6</mu2>
<self_collide>1</self_collide> <self_collide>1</self_collide>
<visual>
<material>
<ambient>.05 .05 .05 1.0</ambient>
<diffuse>.05 .05 .05 1.0</diffuse>
<specular>.05 .05 .05 1.0</specular>
</material>
</visual>
</gazebo> </gazebo>
<gazebo reference="imu_link"> <gazebo reference="imu_link">

238
descriptions/deep_robotics/lite3_description/xacro/gazebo_classic.xacro Normal file
View File

@ -0,0 +1,238 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
<joint name="FR_HipX">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FR_HipY">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FR_Knee">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_HipX">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_HipY">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_Knee">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="HR_HipX">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="HR_HipY">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="HR_Knee">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="HL_HipX">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="HL_HipY">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="HL_Knee">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<sensor name="imu_sensor">
<state_interface name="orientation.x"/>
<state_interface name="orientation.y"/>
<state_interface name="orientation.z"/>
<state_interface name="orientation.w"/>
<state_interface name="angular_velocity.x"/>
<state_interface name="angular_velocity.y"/>
<state_interface name="angular_velocity.z"/>
<state_interface name="linear_acceleration.x"/>
<state_interface name="linear_acceleration.y"/>
<state_interface name="linear_acceleration.z"/>
</sensor>
</ros2_control>
<gazebo>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
<parameters>$(find lite3_description)/config/gazebo.yaml</parameters>
</plugin>
</gazebo>
<gazebo reference="trunk">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>1000</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>trunk_imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>1000.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<gazebo reference="TORSO">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_HIP">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<gazebo reference="FL_THIGH">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_SHANK">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_FOOT">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_HIP">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<gazebo reference="FR_THIGH">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_SHANK">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_FOOT">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="HL_HIP">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<gazebo reference="HL_THIGH">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="HL_SHANK">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="HL_FOOT">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="HR_HIP">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<gazebo reference="HR_THIGH">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="HR_SHANK">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="HR_FOOT">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
</robot>

10
descriptions/deep_robotics/lite3_description/xacro/robot.xacro
View File

@ -6,8 +6,16 @@
<xacro:include filename="$(find lite3_description)/xacro/transmission.xacro"/> <xacro:include filename="$(find lite3_description)/xacro/transmission.xacro"/>
<xacro:arg name="GAZEBO" default="false"/> <xacro:arg name="GAZEBO" default="false"/>
<xacro:arg name="CLASSIC" default="false"/>
<xacro:if value="$(arg GAZEBO)"> <xacro:if value="$(arg GAZEBO)">
<xacro:include filename="$(find lite3_description)/xacro/gazebo.xacro"/> <xacro:if value="$(arg CLASSIC)">
<xacro:include filename="$(find lite3_description)/xacro/gazebo_classic.xacro"/>
</xacro:if>
<xacro:unless value="$(arg CLASSIC)">
<xacro:include filename="$(find lite3_description)/xacro/gazebo.xacro"/>
</xacro:unless>
</xacro:if> </xacro:if>
<xacro:unless value="$(arg GAZEBO)"> <xacro:unless value="$(arg GAZEBO)">
<xacro:include filename="$(find lite3_description)/xacro/ros2_control.xacro"/> <xacro:include filename="$(find lite3_description)/xacro/ros2_control.xacro"/>

10
descriptions/deep_robotics/x30_description/README.md
View File

@ -35,7 +35,15 @@ ros2 launch x30_description visualize.launch.py
ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=x30_description ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=x30_description
``` ```
### Gazebo Simulator ### Gazebo Classic 11 (ROS2 Humble)
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo_classic.launch.py pkg_description:=x30_description height:=0.64
```
### Gazebo Harmonic (ROS2 Jazzy)
* Unitree Guide Controller * Unitree Guide Controller
```bash ```bash
source ~/ros2_ws/install/setup.bash source ~/ros2_ws/install/setup.bash

34
descriptions/deep_robotics/x30_description/config/gazebo.yaml
View File

@ -1,7 +1,7 @@
# Controller Manager configuration # Controller Manager configuration
controller_manager: controller_manager:
ros__parameters: ros__parameters:
update_rate: 2000 # Hz update_rate: 1000 # Hz
# Define the available controllers # Define the available controllers
joint_state_broadcaster: joint_state_broadcaster:
@ -26,6 +26,7 @@ imu_sensor_broadcaster:
leg_pd_controller: leg_pd_controller:
ros__parameters: ros__parameters:
update_rate: 1000 # Hz
joints: joints:
- FR_HipX - FR_HipX
- FR_HipY - FR_HipY
@ -65,6 +66,37 @@ unitree_guide_controller:
- HL_HipY - HL_HipY
- HL_Knee - HL_Knee
stand_kp: 300.0
stand_kd: 10.0
down_pos:
- 0.0
- -1.22
- 2.61
- 0.0
- -1.22
- 2.61
- 0.0
- -1.22
- 2.61
- 0.0
- -1.22
- 2.61
stand_pos:
- 0.0
- -0.732
- 1.361
- 0.0
- -0.732
- 1.361
- 0.0
- -0.732
- 1.361
- 0.0
- -0.732
- 1.361
command_interfaces: command_interfaces:
- effort - effort
- position - position

246
descriptions/deep_robotics/x30_description/xacro/gazebo_classic.xacro Normal file
View File

@ -0,0 +1,246 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
<joint name="FR_HipX">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FR_HipY">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FR_Knee">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_HipX">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_HipY">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_Knee">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="HR_HipX">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="HR_HipY">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="HR_Knee">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="HL_HipX">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="HL_HipY">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="HL_Knee">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<sensor name="imu_sensor">
<state_interface name="orientation.x"/>
<state_interface name="orientation.y"/>
<state_interface name="orientation.z"/>
<state_interface name="orientation.w"/>
<state_interface name="angular_velocity.x"/>
<state_interface name="angular_velocity.y"/>
<state_interface name="angular_velocity.z"/>
<state_interface name="linear_acceleration.x"/>
<state_interface name="linear_acceleration.y"/>
<state_interface name="linear_acceleration.z"/>
</sensor>
</ros2_control>
<gazebo>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
<parameters>$(find x30_description)/config/gazebo.yaml</parameters>
</plugin>
</gazebo>
<gazebo reference="trunk">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>1000</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>trunk_imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>1000.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<gazebo reference="TORSO">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_HIP">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FL_THIGH">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="FL_SHANK">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_FOOT">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="100.0"/>
</gazebo>
<gazebo reference="FR_HIP">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FR_THIGH">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="FR_SHANK">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_FOOT">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="100.0"/>
</gazebo>
<gazebo reference="HL_HIP">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="HL_THIGH">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="HL_SHANK">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="HL_FOOT">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="100.0"/>
</gazebo>
<gazebo reference="HR_HIP">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="HR_THIGH">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="HR_SHANK">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="HR_FOOT">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="100.0"/>
</gazebo>
</robot>

10
descriptions/deep_robotics/x30_description/xacro/robot.xacro
View File

@ -7,8 +7,16 @@
<xacro:include filename="$(find x30_description)/xacro/transmission.xacro"/> <xacro:include filename="$(find x30_description)/xacro/transmission.xacro"/>
<xacro:arg name="GAZEBO" default="false"/> <xacro:arg name="GAZEBO" default="false"/>
<xacro:arg name="CLASSIC" default="false"/>
<xacro:if value="$(arg GAZEBO)"> <xacro:if value="$(arg GAZEBO)">
<xacro:include filename="$(find x30_description)/xacro/gazebo.xacro"/> <xacro:if value="$(arg CLASSIC)">
<xacro:include filename="$(find x30_description)/xacro/gazebo_classic.xacro"/>
</xacro:if>
<xacro:unless value="$(arg CLASSIC)">
<xacro:include filename="$(find x30_description)/xacro/gazebo.xacro"/>
</xacro:unless>
</xacro:if> </xacro:if>
<xacro:unless value="$(arg GAZEBO)"> <xacro:unless value="$(arg GAZEBO)">
<xacro:include filename="$(find x30_description)/xacro/ros2_control.xacro"/> <xacro:include filename="$(find x30_description)/xacro/ros2_control.xacro"/>

10
descriptions/unitree/aliengo_description/README.md
View File

@ -40,7 +40,15 @@ ros2 launch aliengo_description visualize.launch.py
ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=aliengo_description ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=aliengo_description
``` ```
### Gazebo Simulator ### Gazebo Classic 11 (ROS2 Humble)
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo_classic.launch.py pkg_description:=aliengo_description height:=0.535
```
### Gazebo Harmonic (ROS2 Jazzy)
* Unitree Guide Controller * Unitree Guide Controller
```bash ```bash

3
descriptions/unitree/aliengo_description/config/gazebo.yaml
View File

@ -1,7 +1,7 @@
# Controller Manager configuration # Controller Manager configuration
controller_manager: controller_manager:
ros__parameters: ros__parameters:
update_rate: 2000 # Hz update_rate: 1000 # Hz
# Define the available controllers # Define the available controllers
joint_state_broadcaster: joint_state_broadcaster:
@ -26,6 +26,7 @@ imu_sensor_broadcaster:
leg_pd_controller: leg_pd_controller:
ros__parameters: ros__parameters:
update_rate: 1000 # Hz
joints: joints:
- FR_hip_joint - FR_hip_joint
- FR_thigh_joint - FR_thigh_joint

238
descriptions/unitree/aliengo_description/xacro/gazebo_classic.xacro Normal file
View File

@ -0,0 +1,238 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
<joint name="FR_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FR_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FR_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<sensor name="imu_sensor">
<state_interface name="orientation.x"/>
<state_interface name="orientation.y"/>
<state_interface name="orientation.z"/>
<state_interface name="orientation.w"/>
<state_interface name="angular_velocity.x"/>
<state_interface name="angular_velocity.y"/>
<state_interface name="angular_velocity.z"/>
<state_interface name="linear_acceleration.x"/>
<state_interface name="linear_acceleration.y"/>
<state_interface name="linear_acceleration.z"/>
</sensor>
</ros2_control>
<gazebo>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
<parameters>$(find aliengo_description)/config/gazebo.yaml</parameters>
</plugin>
</gazebo>
<gazebo reference="trunk">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>1000</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>trunk_imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>1000.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- FL leg -->
<gazebo reference="FL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<gazebo reference="FL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- FR leg -->
<gazebo reference="FR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<gazebo reference="FR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RL leg -->
<gazebo reference="RL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<gazebo reference="RL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RR leg -->
<gazebo reference="RR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<gazebo reference="RR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
</robot>

10
descriptions/unitree/aliengo_description/xacro/robot.xacro
View File

@ -4,16 +4,22 @@
<xacro:arg name="DEBUG" default="false"/> <xacro:arg name="DEBUG" default="false"/>
<xacro:arg name="GAZEBO" default="false"/> <xacro:arg name="GAZEBO" default="false"/>
<xacro:arg name="CLASSIC" default="false"/>
<xacro:include filename="$(find aliengo_description)/xacro/const.xacro"/> <xacro:include filename="$(find aliengo_description)/xacro/const.xacro"/>
<xacro:include filename="$(find aliengo_description)/xacro/materials.xacro"/> <xacro:include filename="$(find aliengo_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find aliengo_description)/xacro/leg.xacro"/> <xacro:include filename="$(find aliengo_description)/xacro/leg.xacro"/>
<xacro:if value="$(arg GAZEBO)"> <xacro:if value="$(arg GAZEBO)">
<xacro:include filename="$(find go2_description)/xacro/gazebo.xacro"/> <xacro:if value="$(arg CLASSIC)">
<xacro:include filename="$(find aliengo_description)/xacro/gazebo_classic.xacro"/>
</xacro:if>
<xacro:unless value="$(arg CLASSIC)">
<xacro:include filename="$(find aliengo_description)/xacro/gazebo.xacro"/>
</xacro:unless>
</xacro:if> </xacro:if>
<xacro:unless value="$(arg GAZEBO)"> <xacro:unless value="$(arg GAZEBO)">
<xacro:include filename="$(find go2_description)/xacro/ros2_control.xacro"/> <xacro:include filename="$(find aliengo_description)/xacro/ros2_control.xacro"/>
</xacro:unless> </xacro:unless>

10
descriptions/unitree/b2_description/README.md
View File

@ -35,7 +35,15 @@ ros2 launch b2_description visualize.launch.py
ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=b2_description ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=b2_description
``` ```
### Gazebo Simulator ### Gazebo Classic 11 (ROS2 Humble)
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo_classic.launch.py pkg_description:=b2_description height:=0.68
```
### Gazebo Harmonic (ROS2 Jazzy)
* Unitree Guide Controller * Unitree Guide Controller
```bash ```bash

6
descriptions/unitree/b2_description/config/gazebo.yaml
View File

@ -1,7 +1,7 @@
# Controller Manager configuration # Controller Manager configuration
controller_manager: controller_manager:
ros__parameters: ros__parameters:
update_rate: 2000 # Hz update_rate: 1000 # Hz
# Define the available controllers # Define the available controllers
joint_state_broadcaster: joint_state_broadcaster:
@ -26,6 +26,7 @@ imu_sensor_broadcaster:
leg_pd_controller: leg_pd_controller:
ros__parameters: ros__parameters:
update_rate: 1000 # Hz
joints: joints:
- FR_hip_joint - FR_hip_joint
- FR_thigh_joint - FR_thigh_joint
@ -50,6 +51,9 @@ leg_pd_controller:
unitree_guide_controller: unitree_guide_controller:
ros__parameters: ros__parameters:
command_prefix: "leg_pd_controller" command_prefix: "leg_pd_controller"
update_rate: 500 # Hz
stand_kp: 500.0
stand_kd: 40.0
joints: joints:
- FR_hip_joint - FR_hip_joint
- FR_thigh_joint - FR_thigh_joint

4
descriptions/unitree/b2_description/xacro/const.xacro
View File

@ -57,8 +57,8 @@
<!-- joint limits --> <!-- joint limits -->
<xacro:property name="damping" value="0"/> <xacro:property name="damping" value="0.1"/>
<xacro:property name="friction" value="0"/> <xacro:property name="friction" value="0.1"/>
<xacro:property name="hip_position_max" value="0.87"/> <xacro:property name="hip_position_max" value="0.87"/>
<xacro:property name="hip_position_min" value="-0.87"/> <xacro:property name="hip_position_min" value="-0.87"/>
<xacro:property name="hip_velocity_max" value="23"/> <xacro:property name="hip_velocity_max" value="23"/>

237
descriptions/unitree/b2_description/xacro/gazebo_classic.xacro Normal file
View File

@ -0,0 +1,237 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
<joint name="FR_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FR_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FR_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<sensor name="imu_sensor">
<state_interface name="orientation.x"/>
<state_interface name="orientation.y"/>
<state_interface name="orientation.z"/>
<state_interface name="orientation.w"/>
<state_interface name="angular_velocity.x"/>
<state_interface name="angular_velocity.y"/>
<state_interface name="angular_velocity.z"/>
<state_interface name="linear_acceleration.x"/>
<state_interface name="linear_acceleration.y"/>
<state_interface name="linear_acceleration.z"/>
</sensor>
</ros2_control>
<gazebo>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
<parameters>$(find b2_description)/config/gazebo.yaml</parameters>
</plugin>
</gazebo>
<gazebo reference="trunk">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>1000</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>trunk_imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>1000.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- FL leg -->
<gazebo reference="FL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<gazebo reference="FL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- FR leg -->
<gazebo reference="FR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<gazebo reference="FR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RL leg -->
<gazebo reference="RL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<gazebo reference="RL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RR leg -->
<gazebo reference="RR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<gazebo reference="RR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
</robot>

8
descriptions/unitree/b2_description/xacro/robot.xacro
View File

@ -4,13 +4,19 @@
<xacro:arg name="DEBUG" default="false"/> <xacro:arg name="DEBUG" default="false"/>
<xacro:arg name="GAZEBO" default="false"/> <xacro:arg name="GAZEBO" default="false"/>
<xacro:arg name="CLASSIC" default="false"/>
<xacro:include filename="$(find b2_description)/xacro/const.xacro"/> <xacro:include filename="$(find b2_description)/xacro/const.xacro"/>
<xacro:include filename="$(find b2_description)/xacro/materials.xacro"/> <xacro:include filename="$(find b2_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find b2_description)/xacro/leg.xacro"/> <xacro:include filename="$(find b2_description)/xacro/leg.xacro"/>
<xacro:if value="$(arg GAZEBO)"> <xacro:if value="$(arg GAZEBO)">
<xacro:include filename="$(find b2_description)/xacro/gazebo.xacro"/> <xacro:if value="$(arg CLASSIC)">
<xacro:include filename="$(find b2_description)/xacro/gazebo_classic.xacro"/>
</xacro:if>
<xacro:unless value="$(arg CLASSIC)">
<xacro:include filename="$(find b2_description)/xacro/gazebo.xacro"/>
</xacro:unless>
</xacro:if> </xacro:if>
<xacro:unless value="$(arg GAZEBO)"> <xacro:unless value="$(arg GAZEBO)">
<xacro:include filename="$(find b2_description)/xacro/ros2_control.xacro"/> <xacro:include filename="$(find b2_description)/xacro/ros2_control.xacro"/>

10
descriptions/unitree/go1_description/README.md
View File

@ -35,7 +35,15 @@ ros2 launch go1_description visualize.launch.py
ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=go1_description ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=go1_description
``` ```
### Gazebo Simulator ### Gazebo Classic 11 (ROS2 Humble)
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo_classic.launch.py pkg_description:=go1_description
```
### Gazebo Harmonic (ROS2 Jazzy)
* Unitree Guide Controller * Unitree Guide Controller
```bash ```bash

4
descriptions/unitree/go1_description/config/gazebo.yaml
View File

@ -1,7 +1,7 @@
# Controller Manager configuration # Controller Manager configuration
controller_manager: controller_manager:
ros__parameters: ros__parameters:
update_rate: 2000 # Hz update_rate: 1000 # Hz
# Define the available controllers # Define the available controllers
joint_state_broadcaster: joint_state_broadcaster:
@ -26,6 +26,7 @@ imu_sensor_broadcaster:
leg_pd_controller: leg_pd_controller:
ros__parameters: ros__parameters:
update_rate: 1000 # Hz
joints: joints:
- FR_hip_joint - FR_hip_joint
- FR_thigh_joint - FR_thigh_joint
@ -49,6 +50,7 @@ leg_pd_controller:
unitree_guide_controller: unitree_guide_controller:
ros__parameters: ros__parameters:
update_rate: 200 # Hz
command_prefix: "leg_pd_controller" command_prefix: "leg_pd_controller"
joints: joints:
- FR_hip_joint - FR_hip_joint

276
descriptions/unitree/go1_description/xacro/const.xacro
View File

@ -2,158 +2,158 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Constants for robot dimensions --> <!-- Constants for robot dimensions -->
<xacro:property name="PI" value="3.1415926535897931"/> <xacro:property name="PI" value="3.1415926535897931"/>
<xacro:property name="stick_mass" value="0.00001"/> <xacro:property name="stick_mass" value="0.00001"/>
<!-- simplified collision value --> <!-- simplified collision value -->
<xacro:property name="trunk_width" value="0.0935"/> <xacro:property name="trunk_width" value="0.0935"/>
<xacro:property name="trunk_length" value="0.3762"/> <xacro:property name="trunk_length" value="0.3762"/>
<xacro:property name="trunk_height" value="0.114"/> <xacro:property name="trunk_height" value="0.114"/>
<xacro:property name="hip_radius" value="0.046"/> <xacro:property name="hip_radius" value="0.046"/>
<xacro:property name="hip_length" value="0.04"/> <xacro:property name="hip_length" value="0.04"/>
<xacro:property name="thigh_shoulder_radius" value="0.041"/> <xacro:property name="thigh_shoulder_radius" value="0.041"/>
<xacro:property name="thigh_shoulder_length" value="0.032"/> <xacro:property name="thigh_shoulder_length" value="0.032"/>
<xacro:property name="thigh_width" value="0.0245"/> <xacro:property name="thigh_width" value="0.0245"/>
<xacro:property name="thigh_height" value="0.034"/> <xacro:property name="thigh_height" value="0.034"/>
<xacro:property name="calf_width" value="0.016"/> <xacro:property name="calf_width" value="0.016"/>
<xacro:property name="calf_height" value="0.016"/> <xacro:property name="calf_height" value="0.016"/>
<xacro:property name="foot_radius" value="0.02"/> <xacro:property name="foot_radius" value="0.02"/>
<xacro:property name="stick_radius" value="0.01"/> <xacro:property name="stick_radius" value="0.01"/>
<xacro:property name="stick_length" value="0.2"/> <xacro:property name="stick_length" value="0.2"/>
<!-- kinematic value --> <!-- kinematic value -->
<xacro:property name="thigh_offset" value="0.08"/> <xacro:property name="thigh_offset" value="0.08"/>
<xacro:property name="thigh_length" value="0.213"/> <xacro:property name="thigh_length" value="0.213"/>
<xacro:property name="calf_length" value="0.213"/> <xacro:property name="calf_length" value="0.213"/>
<!-- leg offset from trunk center value --> <!-- leg offset from trunk center value -->
<xacro:property name="leg_offset_x" value="0.1881"/> <xacro:property name="leg_offset_x" value="0.1881"/>
<xacro:property name="leg_offset_y" value="0.04675"/> <xacro:property name="leg_offset_y" value="0.04675"/>
<!-- <xacro:property name="trunk_offset_z" value="0.01675"/> --> <!-- <xacro:property name="trunk_offset_z" value="0.01675"/> -->
<xacro:property name="hip_offset" value="0.08"/> <xacro:property name="hip_offset" value="0.08"/>
<!-- offset of link and rotor locations (left front) --> <!-- offset of link and rotor locations (left front) -->
<xacro:property name="hip_offset_x" value="0.1881"/> <xacro:property name="hip_offset_x" value="0.1881"/>
<xacro:property name="hip_offset_y" value="0.04675"/> <xacro:property name="hip_offset_y" value="0.04675"/>
<xacro:property name="hip_offset_z" value="0.0"/> <xacro:property name="hip_offset_z" value="0.0"/>
<xacro:property name="hip_rotor_offset_x" value="0.11215"/> <xacro:property name="hip_rotor_offset_x" value="0.11215"/>
<xacro:property name="hip_rotor_offset_y" value="0.04675"/> <xacro:property name="hip_rotor_offset_y" value="0.04675"/>
<xacro:property name="hip_rotor_offset_z" value="0.0"/> <xacro:property name="hip_rotor_offset_z" value="0.0"/>
<xacro:property name="thigh_offset_x" value="0"/> <xacro:property name="thigh_offset_x" value="0"/>
<xacro:property name="thigh_offset_y" value="0.08"/> <xacro:property name="thigh_offset_y" value="0.08"/>
<xacro:property name="thigh_offset_z" value="0.0"/> <xacro:property name="thigh_offset_z" value="0.0"/>
<xacro:property name="thigh_rotor_offset_x" value="0.0"/> <xacro:property name="thigh_rotor_offset_x" value="0.0"/>
<xacro:property name="thigh_rotor_offset_y" value="-0.00015"/> <xacro:property name="thigh_rotor_offset_y" value="-0.00015"/>
<xacro:property name="thigh_rotor_offset_z" value="0.0"/> <xacro:property name="thigh_rotor_offset_z" value="0.0"/>
<xacro:property name="calf_offset_x" value="0.0"/> <xacro:property name="calf_offset_x" value="0.0"/>
<xacro:property name="calf_offset_y" value="0.0"/> <xacro:property name="calf_offset_y" value="0.0"/>
<xacro:property name="calf_offset_z" value="-0.213"/> <xacro:property name="calf_offset_z" value="-0.213"/>
<xacro:property name="calf_rotor_offset_x" value="0.0"/> <xacro:property name="calf_rotor_offset_x" value="0.0"/>
<xacro:property name="calf_rotor_offset_y" value="-0.03235"/> <xacro:property name="calf_rotor_offset_y" value="-0.03235"/>
<xacro:property name="calf_rotor_offset_z" value="0.0"/> <xacro:property name="calf_rotor_offset_z" value="0.0"/>
<!-- joint limits --> <!-- joint limits -->
<xacro:property name="damping" value="0.0"/> <xacro:property name="damping" value="0.1"/>
<xacro:property name="friction" value="0.0"/> <xacro:property name="friction" value="0.1"/>
<xacro:property name="hip_position_max" value="0.863"/> <xacro:property name="hip_position_max" value="0.863"/>
<xacro:property name="hip_position_min" value="-0.863"/> <xacro:property name="hip_position_min" value="-0.863"/>
<xacro:property name="hip_velocity_max" value="30.1"/> <xacro:property name="hip_velocity_max" value="30.1"/>
<xacro:property name="hip_torque_max" value="23.7"/> <xacro:property name="hip_torque_max" value="23.7"/>
<xacro:property name="thigh_position_max" value="4.501"/> <xacro:property name="thigh_position_max" value="4.501"/>
<xacro:property name="thigh_position_min" value="-0.686"/> <xacro:property name="thigh_position_min" value="-0.686"/>
<xacro:property name="thigh_velocity_max" value="30.1"/> <xacro:property name="thigh_velocity_max" value="30.1"/>
<xacro:property name="thigh_torque_max" value="23.7"/> <xacro:property name="thigh_torque_max" value="23.7"/>
<xacro:property name="calf_position_max" value="-0.888"/> <xacro:property name="calf_position_max" value="-0.888"/>
<xacro:property name="calf_position_min" value="-2.818"/> <xacro:property name="calf_position_min" value="-2.818"/>
<xacro:property name="calf_velocity_max" value="20.06"/> <xacro:property name="calf_velocity_max" value="20.06"/>
<xacro:property name="calf_torque_max" value="35.55"/> <xacro:property name="calf_torque_max" value="35.55"/>
<!-- dynamics inertial value total 12.84kg --> <!-- dynamics inertial value total 12.84kg -->
<!-- trunk --> <!-- trunk -->
<xacro:property name="trunk_mass" value="5.204"/> <xacro:property name="trunk_mass" value="5.204"/>
<xacro:property name="trunk_com_x" value="0.0223"/> <xacro:property name="trunk_com_x" value="0.0223"/>
<xacro:property name="trunk_com_y" value="0.002"/> <xacro:property name="trunk_com_y" value="0.002"/>
<xacro:property name="trunk_com_z" value="-0.0005"/> <xacro:property name="trunk_com_z" value="-0.0005"/>
<xacro:property name="trunk_ixx" value="0.0168128557"/> <xacro:property name="trunk_ixx" value="0.0168128557"/>
<xacro:property name="trunk_ixy" value="-0.0002296769"/> <xacro:property name="trunk_ixy" value="-0.0002296769"/>
<xacro:property name="trunk_ixz" value="-0.0002945293"/> <xacro:property name="trunk_ixz" value="-0.0002945293"/>
<xacro:property name="trunk_iyy" value="0.063009565"/> <xacro:property name="trunk_iyy" value="0.063009565"/>
<xacro:property name="trunk_iyz" value="-0.0000418731"/> <xacro:property name="trunk_iyz" value="-0.0000418731"/>
<xacro:property name="trunk_izz" value="0.0716547275"/> <xacro:property name="trunk_izz" value="0.0716547275"/>
<!-- hip (left front) --> <!-- hip (left front) -->
<xacro:property name="hip_mass" value="0.591"/> <xacro:property name="hip_mass" value="0.591"/>
<xacro:property name="hip_com_x" value="-0.005657"/> <xacro:property name="hip_com_x" value="-0.005657"/>
<xacro:property name="hip_com_y" value="-0.008752"/> <xacro:property name="hip_com_y" value="-0.008752"/>
<xacro:property name="hip_com_z" value="-0.000102"/> <xacro:property name="hip_com_z" value="-0.000102"/>
<xacro:property name="hip_ixx" value="0.000334008405"/> <xacro:property name="hip_ixx" value="0.000334008405"/>
<xacro:property name="hip_ixy" value="-0.000010826066"/> <xacro:property name="hip_ixy" value="-0.000010826066"/>
<xacro:property name="hip_ixz" value="0.000001290732"/> <xacro:property name="hip_ixz" value="0.000001290732"/>
<xacro:property name="hip_iyy" value="0.000619101213"/> <xacro:property name="hip_iyy" value="0.000619101213"/>
<xacro:property name="hip_iyz" value="0.000001643194"/> <xacro:property name="hip_iyz" value="0.000001643194"/>
<xacro:property name="hip_izz" value="0.00040057614"/> <xacro:property name="hip_izz" value="0.00040057614"/>
<xacro:property name="hip_rotor_mass" value="0.089"/> <xacro:property name="hip_rotor_mass" value="0.089"/>
<xacro:property name="hip_rotor_com_x" value="0.0"/> <xacro:property name="hip_rotor_com_x" value="0.0"/>
<xacro:property name="hip_rotor_com_y" value="0.0"/> <xacro:property name="hip_rotor_com_y" value="0.0"/>
<xacro:property name="hip_rotor_com_z" value="0.0"/> <xacro:property name="hip_rotor_com_z" value="0.0"/>
<xacro:property name="hip_rotor_ixx" value="0.000111842"/> <xacro:property name="hip_rotor_ixx" value="0.000111842"/>
<xacro:property name="hip_rotor_ixy" value="0.0"/> <xacro:property name="hip_rotor_ixy" value="0.0"/>
<xacro:property name="hip_rotor_ixz" value="0.0"/> <xacro:property name="hip_rotor_ixz" value="0.0"/>
<xacro:property name="hip_rotor_iyy" value="0.000059647"/> <xacro:property name="hip_rotor_iyy" value="0.000059647"/>
<xacro:property name="hip_rotor_iyz" value="0.0"/> <xacro:property name="hip_rotor_iyz" value="0.0"/>
<xacro:property name="hip_rotor_izz" value="0.000059647"/> <xacro:property name="hip_rotor_izz" value="0.000059647"/>
<!-- thigh --> <!-- thigh -->
<xacro:property name="thigh_mass" value="0.92"/> <xacro:property name="thigh_mass" value="0.92"/>
<xacro:property name="thigh_com_x" value="-0.003342"/> <xacro:property name="thigh_com_x" value="-0.003342"/>
<xacro:property name="thigh_com_y" value="-0.018054"/> <xacro:property name="thigh_com_y" value="-0.018054"/>
<xacro:property name="thigh_com_z" value="-0.033451"/> <xacro:property name="thigh_com_z" value="-0.033451"/>
<xacro:property name="thigh_ixx" value="0.004431760472"/> <xacro:property name="thigh_ixx" value="0.004431760472"/>
<xacro:property name="thigh_ixy" value="0.000057496807"/> <xacro:property name="thigh_ixy" value="0.000057496807"/>
<xacro:property name="thigh_ixz" value="-0.000218457134"/> <xacro:property name="thigh_ixz" value="-0.000218457134"/>
<xacro:property name="thigh_iyy" value="0.004485671726"/> <xacro:property name="thigh_iyy" value="0.004485671726"/>
<xacro:property name="thigh_iyz" value="0.000572001265"/> <xacro:property name="thigh_iyz" value="0.000572001265"/>
<xacro:property name="thigh_izz" value="0.000740309489"/> <xacro:property name="thigh_izz" value="0.000740309489"/>
<xacro:property name="thigh_rotor_mass" value="0.089"/> <xacro:property name="thigh_rotor_mass" value="0.089"/>
<xacro:property name="thigh_rotor_com_x" value="0.0"/> <xacro:property name="thigh_rotor_com_x" value="0.0"/>
<xacro:property name="thigh_rotor_com_y" value="0.0"/> <xacro:property name="thigh_rotor_com_y" value="0.0"/>
<xacro:property name="thigh_rotor_com_z" value="0.0"/> <xacro:property name="thigh_rotor_com_z" value="0.0"/>
<xacro:property name="thigh_rotor_ixx" value="0.000059647"/> <xacro:property name="thigh_rotor_ixx" value="0.000059647"/>
<xacro:property name="thigh_rotor_ixy" value="0.0"/> <xacro:property name="thigh_rotor_ixy" value="0.0"/>
<xacro:property name="thigh_rotor_ixz" value="0.0"/> <xacro:property name="thigh_rotor_ixz" value="0.0"/>
<xacro:property name="thigh_rotor_iyy" value="0.000111842"/> <xacro:property name="thigh_rotor_iyy" value="0.000111842"/>
<xacro:property name="thigh_rotor_iyz" value="0.0"/> <xacro:property name="thigh_rotor_iyz" value="0.0"/>
<xacro:property name="thigh_rotor_izz" value="0.000059647"/> <xacro:property name="thigh_rotor_izz" value="0.000059647"/>
<!-- calf --> <!-- calf -->
<xacro:property name="calf_mass" value="0.135862"/> <xacro:property name="calf_mass" value="0.135862"/>
<xacro:property name="calf_com_x" value="0.006197"/> <xacro:property name="calf_com_x" value="0.006197"/>
<xacro:property name="calf_com_y" value="0.001408"/> <xacro:property name="calf_com_y" value="0.001408"/>
<xacro:property name="calf_com_z" value="-0.116695"/> <xacro:property name="calf_com_z" value="-0.116695"/>
<xacro:property name="calf_ixx" value="0.001088793059"/> <xacro:property name="calf_ixx" value="0.001088793059"/>
<xacro:property name="calf_ixy" value="-0.000000255679"/> <xacro:property name="calf_ixy" value="-0.000000255679"/>
<xacro:property name="calf_ixz" value="0.000007117814"/> <xacro:property name="calf_ixz" value="0.000007117814"/>
<xacro:property name="calf_iyy" value="0.001100428748"/> <xacro:property name="calf_iyy" value="0.001100428748"/>
<xacro:property name="calf_iyz" value="0.000002077264"/> <xacro:property name="calf_iyz" value="0.000002077264"/>
<xacro:property name="calf_izz" value="0.000024787446"/> <xacro:property name="calf_izz" value="0.000024787446"/>
<xacro:property name="calf_rotor_mass" value="0.089"/> <xacro:property name="calf_rotor_mass" value="0.089"/>
<xacro:property name="calf_rotor_com_x" value="0.0"/> <xacro:property name="calf_rotor_com_x" value="0.0"/>
<xacro:property name="calf_rotor_com_y" value="0.0"/> <xacro:property name="calf_rotor_com_y" value="0.0"/>
<xacro:property name="calf_rotor_com_z" value="0.0"/> <xacro:property name="calf_rotor_com_z" value="0.0"/>
<xacro:property name="calf_rotor_ixx" value="0.000059647"/> <xacro:property name="calf_rotor_ixx" value="0.000059647"/>
<xacro:property name="calf_rotor_ixy" value="0.0"/> <xacro:property name="calf_rotor_ixy" value="0.0"/>
<xacro:property name="calf_rotor_ixz" value="0.0"/> <xacro:property name="calf_rotor_ixz" value="0.0"/>
<xacro:property name="calf_rotor_iyy" value="0.000111842"/> <xacro:property name="calf_rotor_iyy" value="0.000111842"/>
<xacro:property name="calf_rotor_iyz" value="0.0"/> <xacro:property name="calf_rotor_iyz" value="0.0"/>
<xacro:property name="calf_rotor_izz" value="0.000059647"/> <xacro:property name="calf_rotor_izz" value="0.000059647"/>
<!-- foot --> <!-- foot -->
<xacro:property name="foot_mass" value="0.06"/> <xacro:property name="foot_mass" value="0.06"/>
</robot> </robot>

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@ -1,87 +1,87 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="depthCamera" params="camID name *origin"> <xacro:macro name="depthCamera" params="camID name *origin">
<joint name="camera_joint_${name}" type="fixed"> <joint name="camera_joint_${name}" type="fixed">
<xacro:insert_block name="origin"/> <xacro:insert_block name="origin"/>
<parent link="trunk"/> <parent link="trunk"/>
<child link="camera_${name}"/> <child link="camera_${name}"/>
</joint> </joint>
<link name="camera_${name}"> <link name="camera_${name}">
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<geometry> <geometry>
<box size=".001 .001 .001"/> <box size=".001 .001 .001"/>
</geometry> </geometry>
</collision> </collision>
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<geometry> <geometry>
<mesh filename="file://$(find go1_description)/meshes/depthCamera.dae" scale="1 1 1"/> <mesh filename="file://$(find go1_description)/meshes/depthCamera.dae" scale="1 1 1"/>
</geometry> </geometry>
</visual> </visual>
<inertial> <inertial>
<mass value="1e-5" /> <mass value="1e-5"/>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" /> <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial> </inertial>
</link> </link>
<joint name="camera_optical_joint_${name}" type="fixed"> <joint name="camera_optical_joint_${name}" type="fixed">
<origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/> <origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
<parent link="camera_${name}"/> <parent link="camera_${name}"/>
<child link="camera_optical_${name}"/> <child link="camera_optical_${name}"/>
</joint> </joint>
<link name="camera_optical_${name}"> <link name="camera_optical_${name}">
</link> </link>
<!-- <gazebo reference="camera_${name}">--> <!-- <gazebo reference="camera_${name}">-->
<!-- &lt;!&ndash; <material>Gazebo/Black</material> &ndash;&gt;--> <!-- &lt;!&ndash; <material>Gazebo/Black</material> &ndash;&gt;-->
<!-- <sensor name="camera_${name}_camera" type="depth">--> <!-- <sensor name="camera_${name}_camera" type="depth">-->
<!-- <update_rate>16</update_rate>--> <!-- <update_rate>16</update_rate>-->
<!-- <camera>--> <!-- <camera>-->
<!-- <horizontal_fov>2.094</horizontal_fov>--> <!-- <horizontal_fov>2.094</horizontal_fov>-->
<!-- <image>--> <!-- <image>-->
<!-- <width>928</width>--> <!-- <width>928</width>-->
<!-- <height>800</height>--> <!-- <height>800</height>-->
<!-- <format>R8G8B8</format>--> <!-- <format>R8G8B8</format>-->
<!-- </image>--> <!-- </image>-->
<!-- <clip>--> <!-- <clip>-->
<!-- <near>0.1</near>--> <!-- <near>0.1</near>-->
<!-- <far>5</far>--> <!-- <far>5</far>-->
<!-- </clip>--> <!-- </clip>-->
<!-- </camera>--> <!-- </camera>-->
<!-- <plugin name="camera_${name}_controller" filename="libgazebo_ros_openni_kinect.so">--> <!-- <plugin name="camera_${name}_controller" filename="libgazebo_ros_openni_kinect.so">-->
<!-- <baseline>0.025</baseline>--> <!-- <baseline>0.025</baseline>-->
<!-- <alwaysOn>true</alwaysOn>--> <!-- <alwaysOn>true</alwaysOn>-->
<!-- <updateRate>0.0</updateRate>--> <!-- <updateRate>0.0</updateRate>-->
<!-- <cameraName>camera_${name}_ir</cameraName>--> <!-- <cameraName>camera_${name}_ir</cameraName>-->
<!-- <imageTopicName>/camera_${name}/color/image_raw</imageTopicName>--> <!-- <imageTopicName>/camera_${name}/color/image_raw</imageTopicName>-->
<!-- <cameraInfoTopicName>/camera_${name}/color/camera_info</cameraInfoTopicName>--> <!-- <cameraInfoTopicName>/camera_${name}/color/camera_info</cameraInfoTopicName>-->
<!-- <depthImageTopicName>/camera_${name}/depth/image_raw</depthImageTopicName>--> <!-- <depthImageTopicName>/camera_${name}/depth/image_raw</depthImageTopicName>-->
<!-- <depthImageInfoTopicName>/camera_${name}/depth/camera_info</depthImageInfoTopicName>--> <!-- <depthImageInfoTopicName>/camera_${name}/depth/camera_info</depthImageInfoTopicName>-->
<!-- &lt;!&ndash; <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> &ndash;&gt;--> <!-- &lt;!&ndash; <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> &ndash;&gt;-->
<!-- <pointCloudTopicName>/cam${camID}/point_cloud_${name}</pointCloudTopicName>--> <!-- <pointCloudTopicName>/cam${camID}/point_cloud_${name}</pointCloudTopicName>-->
<!-- <frameName>camera_optical_${name}</frameName>--> <!-- <frameName>camera_optical_${name}</frameName>-->
<!-- <pointCloudCutoff>0.1</pointCloudCutoff>--> <!-- <pointCloudCutoff>0.1</pointCloudCutoff>-->
<!-- <pointCloudCutoffMax>1.5</pointCloudCutoffMax>--> <!-- <pointCloudCutoffMax>1.5</pointCloudCutoffMax>-->
<!-- <distortionK1>0.0</distortionK1>--> <!-- <distortionK1>0.0</distortionK1>-->
<!-- <distortionK2>0.0</distortionK2>--> <!-- <distortionK2>0.0</distortionK2>-->
<!-- <distortionK3>0.0</distortionK3>--> <!-- <distortionK3>0.0</distortionK3>-->
<!-- <distortionT1>0.0</distortionT1>--> <!-- <distortionT1>0.0</distortionT1>-->
<!-- <distortionT2>0.0</distortionT2>--> <!-- <distortionT2>0.0</distortionT2>-->
<!-- <CxPrime>0</CxPrime>--> <!-- <CxPrime>0</CxPrime>-->
<!-- <Cx>0.0045</Cx>--> <!-- <Cx>0.0045</Cx>-->
<!-- <Cy>0.0039</Cy>--> <!-- <Cy>0.0039</Cy>-->
<!-- <focalLength>0</focalLength>--> <!-- <focalLength>0</focalLength>-->
<!-- <hackBaseline>0</hackBaseline>--> <!-- <hackBaseline>0</hackBaseline>-->
<!-- </plugin>--> <!-- </plugin>-->
<!-- </sensor>--> <!-- </sensor>-->
<!-- </gazebo>--> <!-- </gazebo>-->
</xacro:macro> </xacro:macro>
</robot> </robot>

334
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@ -1,188 +1,188 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<ros2_control name="GazeboSystem" type="system"> <ros2_control name="GazeboSystem" type="system">
<hardware> <hardware>
<plugin>gz_ros2_control/GazeboSimSystem</plugin> <plugin>gz_ros2_control/GazeboSimSystem</plugin>
</hardware> </hardware>
<joint name="FR_hip_joint"> <joint name="FR_hip_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FR_thigh_joint"> <joint name="FR_thigh_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FR_calf_joint"> <joint name="FR_calf_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FL_hip_joint"> <joint name="FL_hip_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FL_thigh_joint"> <joint name="FL_thigh_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FL_calf_joint"> <joint name="FL_calf_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RR_hip_joint"> <joint name="RR_hip_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RR_thigh_joint"> <joint name="RR_thigh_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RR_calf_joint"> <joint name="RR_calf_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RL_hip_joint"> <joint name="RL_hip_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RL_thigh_joint"> <joint name="RL_thigh_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RL_calf_joint"> <joint name="RL_calf_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<sensor name="imu_sensor"> <sensor name="imu_sensor">
<state_interface name="orientation.x"/> <state_interface name="orientation.x"/>
<state_interface name="orientation.y"/> <state_interface name="orientation.y"/>
<state_interface name="orientation.z"/> <state_interface name="orientation.z"/>
<state_interface name="orientation.w"/> <state_interface name="orientation.w"/>
<state_interface name="angular_velocity.x"/> <state_interface name="angular_velocity.x"/>
<state_interface name="angular_velocity.y"/> <state_interface name="angular_velocity.y"/>
<state_interface name="angular_velocity.z"/> <state_interface name="angular_velocity.z"/>
<state_interface name="linear_acceleration.x"/> <state_interface name="linear_acceleration.x"/>
<state_interface name="linear_acceleration.y"/> <state_interface name="linear_acceleration.y"/>
<state_interface name="linear_acceleration.z"/> <state_interface name="linear_acceleration.z"/>
</sensor> </sensor>
</ros2_control> </ros2_control>
<gazebo> <gazebo>
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin"> <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>$(find go1_description)/config/gazebo.yaml</parameters> <parameters>$(find go1_description)/config/gazebo.yaml</parameters>
</plugin> </plugin>
<plugin filename="gz-sim-imu-system" <plugin filename="gz-sim-imu-system"
name="gz::sim::systems::Imu"> name="gz::sim::systems::Imu">
</plugin> </plugin>
</gazebo> </gazebo>
<gazebo reference="trunk"> <gazebo reference="trunk">
<mu1>0.6</mu1> <mu1>0.6</mu1>
<mu2>0.6</mu2> <mu2>0.6</mu2>
<self_collide>1</self_collide> <self_collide>1</self_collide>
</gazebo> </gazebo>
<gazebo reference="imu_link"> <gazebo reference="imu_link">
<sensor name="imu_sensor" type="imu"> <sensor name="imu_sensor" type="imu">
<always_on>1</always_on> <always_on>1</always_on>
<update_rate>500</update_rate> <update_rate>500</update_rate>
<visualize>true</visualize> <visualize>true</visualize>
<topic>imu</topic> <topic>imu</topic>
<imu> <imu>
<angular_velocity> <angular_velocity>
<x> <x>
<noise type="gaussian"> <noise type="gaussian">
<mean>0.0</mean> <mean>0.0</mean>
<stddev>2e-4</stddev> <stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean> <bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev> <bias_stddev>0.0000008</bias_stddev>
</noise> </noise>
</x> </x>
<y> <y>
<noise type="gaussian"> <noise type="gaussian">
<mean>0.0</mean> <mean>0.0</mean>
<stddev>2e-4</stddev> <stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean> <bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev> <bias_stddev>0.0000008</bias_stddev>
</noise> </noise>
</y> </y>
<z> <z>
<noise type="gaussian"> <noise type="gaussian">
<mean>0.0</mean> <mean>0.0</mean>
<stddev>2e-4</stddev> <stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean> <bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev> <bias_stddev>0.0000008</bias_stddev>
</noise> </noise>
</z> </z>
</angular_velocity> </angular_velocity>
<linear_acceleration> <linear_acceleration>
<x> <x>
<noise type="gaussian"> <noise type="gaussian">
<mean>0.0</mean> <mean>0.0</mean>
<stddev>1.7e-2</stddev> <stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean> <bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev> <bias_stddev>0.001</bias_stddev>
</noise> </noise>
</x> </x>
<y> <y>
<noise type="gaussian"> <noise type="gaussian">
<mean>0.0</mean> <mean>0.0</mean>
<stddev>1.7e-2</stddev> <stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean> <bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev> <bias_stddev>0.001</bias_stddev>
</noise> </noise>
</y> </y>
<z> <z>
<noise type="gaussian"> <noise type="gaussian">
<mean>0.0</mean> <mean>0.0</mean>
<stddev>1.7e-2</stddev> <stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean> <bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev> <bias_stddev>0.001</bias_stddev>
</noise> </noise>
</z> </z>
</linear_acceleration> </linear_acceleration>
</imu> </imu>
</sensor> </sensor>
</gazebo> </gazebo>
<gazebo reference="imu_joint"> <gazebo reference="imu_joint">
<disableFixedJointLumping>true</disableFixedJointLumping> <disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo> </gazebo>
</robot> </robot>

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@ -0,0 +1,254 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
<joint name="FR_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FR_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FR_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<sensor name="imu_sensor">
<state_interface name="orientation.x"/>
<state_interface name="orientation.y"/>
<state_interface name="orientation.z"/>
<state_interface name="orientation.w"/>
<state_interface name="angular_velocity.x"/>
<state_interface name="angular_velocity.y"/>
<state_interface name="angular_velocity.z"/>
<state_interface name="linear_acceleration.x"/>
<state_interface name="linear_acceleration.y"/>
<state_interface name="linear_acceleration.z"/>
</sensor>
</ros2_control>
<gazebo>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
<parameters>$(find go1_description)/config/gazebo.yaml</parameters>
</plugin>
</gazebo>
<gazebo reference="trunk">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>1000</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>trunk_imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>1000.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<gazebo reference="FL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/Grey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- FR leg -->
<gazebo reference="FR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/Grey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RL leg -->
<gazebo reference="RL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/Grey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RR leg -->
<gazebo reference="RR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/Grey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
</robot>

512
descriptions/unitree/go1_description/xacro/leg.xacro
View File

@ -2,280 +2,280 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find go1_description)/xacro/transmission.xacro"/> <xacro:include filename="$(find go1_description)/xacro/transmission.xacro"/>
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae"> <xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae">
<joint name="${name}_hip_joint" type="revolute"> <joint name="${name}_hip_joint" type="revolute">
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}"> <xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/> <origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:if> </xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}"> <xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/> <origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
</xacro:if> </xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}"> <xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/> <origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:if> </xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}"> <xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/> <origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
</xacro:if> </xacro:if>
<parent link="trunk"/> <parent link="trunk"/>
<child link="${name}_hip"/> <child link="${name}_hip"/>
<axis xyz="1 0 0"/> <axis xyz="1 0 0"/>
<dynamics damping="${damping}" friction="${friction}"/> <dynamics damping="${damping}" friction="${friction}"/>
<xacro:if value="${(mirror_dae == True)}"> <xacro:if value="${(mirror_dae == True)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_position_min}" <limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_position_min}"
upper="${hip_position_max}"/> upper="${hip_position_max}"/>
</xacro:if> </xacro:if>
<xacro:if value="${(mirror_dae == False)}"> <xacro:if value="${(mirror_dae == False)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_position_max}" <limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_position_max}"
upper="${-hip_position_min}"/> upper="${-hip_position_min}"/>
</xacro:if> </xacro:if>
</joint> </joint>
<joint name="${name}_hip_rotor_joint" type="fixed"> <joint name="${name}_hip_rotor_joint" type="fixed">
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}"> <xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/> <origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
</xacro:if> </xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}"> <xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/> <origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
</xacro:if> </xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}"> <xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/> <origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
</xacro:if> </xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}"> <xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/> <origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
</xacro:if> </xacro:if>
<parent link="trunk"/> <parent link="trunk"/>
<child link="${name}_hip_rotor"/> <child link="${name}_hip_rotor"/>
</joint> </joint>
<link name="${name}_hip"> <link name="${name}_hip">
<visual> <visual>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}"> <xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if> </xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}"> <xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="${PI} 0 0" xyz="0 0 0"/> <origin rpy="${PI} 0 0" xyz="0 0 0"/>
</xacro:if> </xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}"> <xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 ${PI} 0" xyz="0 0 0"/> <origin rpy="0 ${PI} 0" xyz="0 0 0"/>
</xacro:if> </xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}"> <xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/> <origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if> </xacro:if>
<geometry> <geometry>
<mesh filename="file://$(find go1_description)/meshes/hip.dae" scale="1 1 1"/> <mesh filename="file://$(find go1_description)/meshes/hip.dae" scale="1 1 1"/>
</geometry> </geometry>
<material name="deep-grey"/> <material name="deep-grey"/>
</visual> </visual>
<collision> <collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/> <origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/>
<geometry> <geometry>
<cylinder length="${hip_length}" radius="${hip_radius}"/> <cylinder length="${hip_length}" radius="${hip_radius}"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/> <origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
<mass value="${hip_mass}"/> <mass value="${hip_mass}"/>
<inertia <inertia
ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}" ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
iyy="${hip_iyy}" iyz="${hip_iyz*mirror}" iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
izz="${hip_izz}"/> izz="${hip_izz}"/>
</inertial> </inertial>
</link> </link>
<link name="${name}_hip_rotor"> <link name="${name}_hip_rotor">
<visual> <visual>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/> <origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
<geometry> <geometry>
<cylinder length="0.02" radius="0.035"/> <cylinder length="0.02" radius="0.035"/>
</geometry> </geometry>
</visual> </visual>
<inertial> <inertial>
<origin rpy="0 0 0" xyz="${hip_rotor_com_x} ${hip_rotor_com_y} ${hip_rotor_com_z}"/> <origin rpy="0 0 0" xyz="${hip_rotor_com_x} ${hip_rotor_com_y} ${hip_rotor_com_z}"/>
<mass value="${hip_rotor_mass}"/> <mass value="${hip_rotor_mass}"/>
<inertia <inertia
ixx="${hip_rotor_ixx}" ixy="${hip_rotor_ixy}" ixz="${hip_rotor_ixz}" ixx="${hip_rotor_ixx}" ixy="${hip_rotor_ixy}" ixz="${hip_rotor_ixz}"
iyy="${hip_rotor_iyy}" iyz="${hip_rotor_iyz}" iyy="${hip_rotor_iyy}" iyz="${hip_rotor_iyz}"
izz="${hip_rotor_izz}"/> izz="${hip_rotor_izz}"/>
</inertial> </inertial>
</link> </link>
<joint name="${name}_thigh_joint" type="revolute"> <joint name="${name}_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/> <origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
<parent link="${name}_hip"/> <parent link="${name}_hip"/>
<child link="${name}_thigh"/> <child link="${name}_thigh"/>
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/> <dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_position_min}" <limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_position_min}"
upper="${thigh_position_max}"/> upper="${thigh_position_max}"/>
</joint> </joint>
<joint name="${name}_thigh_rotor_joint" type="fixed"> <joint name="${name}_thigh_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="${thigh_rotor_offset_x} ${thigh_rotor_offset_y*mirror} 0"/> <origin rpy="0 0 0" xyz="${thigh_rotor_offset_x} ${thigh_rotor_offset_y*mirror} 0"/>
<parent link="${name}_hip"/> <parent link="${name}_hip"/>
<child link="${name}_thigh_rotor"/> <child link="${name}_thigh_rotor"/>
</joint> </joint>
<link name="${name}_thigh"> <link name="${name}_thigh">
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<xacro:if value="${mirror_dae == True}"> <xacro:if value="${mirror_dae == True}">
<mesh filename="file://$(find go1_description)/meshes/thigh.dae" scale="1 1 1"/> <mesh filename="file://$(find go1_description)/meshes/thigh.dae" scale="1 1 1"/>
</xacro:if> </xacro:if>
<xacro:if value="${mirror_dae == False}"> <xacro:if value="${mirror_dae == False}">
<mesh filename="file://$(find go1_description)/meshes/thigh_mirror.dae" scale="1 1 1"/> <mesh filename="file://$(find go1_description)/meshes/thigh_mirror.dae" scale="1 1 1"/>
</xacro:if> </xacro:if>
</geometry> </geometry>
<material name="grey"/> <material name="grey"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/> <origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
<geometry> <geometry>
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/> <box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/> <origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
<mass value="${thigh_mass}"/> <mass value="${thigh_mass}"/>
<inertia <inertia
ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}" ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}" iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
izz="${thigh_izz}"/> izz="${thigh_izz}"/>
</inertial> </inertial>
</link> </link>
<link name="${name}_thigh_rotor"> <link name="${name}_thigh_rotor">
<visual> <visual>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/> <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<cylinder length="0.02" radius="0.035"/> <cylinder length="0.02" radius="0.035"/>
</geometry> </geometry>
</visual> </visual>
<inertial> <inertial>
<origin rpy="0 0 0" xyz="${thigh_rotor_com_x} ${thigh_rotor_com_y} ${thigh_rotor_com_z}"/> <origin rpy="0 0 0" xyz="${thigh_rotor_com_x} ${thigh_rotor_com_y} ${thigh_rotor_com_z}"/>
<mass value="${thigh_rotor_mass}"/> <mass value="${thigh_rotor_mass}"/>
<inertia <inertia
ixx="${thigh_rotor_ixx}" ixy="${thigh_rotor_ixy}" ixz="${thigh_rotor_ixz}" ixx="${thigh_rotor_ixx}" ixy="${thigh_rotor_ixy}" ixz="${thigh_rotor_ixz}"
iyy="${thigh_rotor_iyy}" iyz="${thigh_rotor_iyz}" iyy="${thigh_rotor_iyy}" iyz="${thigh_rotor_iyz}"
izz="${thigh_rotor_izz}"/> izz="${thigh_rotor_izz}"/>
</inertial> </inertial>
</link> </link>
<joint name="${name}_calf_joint" type="revolute"> <joint name="${name}_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/> <origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
<parent link="${name}_thigh"/> <parent link="${name}_thigh"/>
<child link="${name}_calf"/> <child link="${name}_calf"/>
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/> <dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}" <limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}"
upper="${calf_position_max}"/> upper="${calf_position_max}"/>
</joint> </joint>
<joint name="${name}_calf_rotor_joint" type="fixed"> <joint name="${name}_calf_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="${calf_rotor_offset_x} ${calf_rotor_offset_y*mirror} 0"/> <origin rpy="0 0 0" xyz="${calf_rotor_offset_x} ${calf_rotor_offset_y*mirror} 0"/>
<parent link="${name}_thigh"/> <parent link="${name}_thigh"/>
<child link="${name}_calf_rotor"/> <child link="${name}_calf_rotor"/>
</joint> </joint>
<link name="${name}_calf"> <link name="${name}_calf">
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="file://$(find go1_description)/meshes/calf.dae" scale="1 1 1"/> <mesh filename="file://$(find go1_description)/meshes/calf.dae" scale="1 1 1"/>
</geometry> </geometry>
<material name="light-grey"/> <material name="light-grey"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/> <origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
<geometry> <geometry>
<box size="${calf_length} ${calf_width} ${calf_height}"/> <box size="${calf_length} ${calf_width} ${calf_height}"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/> <origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
<mass value="${calf_mass}"/> <mass value="${calf_mass}"/>
<inertia <inertia
ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}" ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
iyy="${calf_iyy}" iyz="${calf_iyz}" iyy="${calf_iyy}" iyz="${calf_iyz}"
izz="${calf_izz}"/> izz="${calf_izz}"/>
</inertial> </inertial>
</link> </link>
<link name="${name}_calf_rotor"> <link name="${name}_calf_rotor">
<visual> <visual>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/> <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<cylinder length="0.02" radius="0.035"/> <cylinder length="0.02" radius="0.035"/>
</geometry> </geometry>
</visual> </visual>
<inertial> <inertial>
<origin rpy="0 0 0" xyz="${calf_rotor_com_x} ${calf_rotor_com_y} ${calf_rotor_com_z}"/> <origin rpy="0 0 0" xyz="${calf_rotor_com_x} ${calf_rotor_com_y} ${calf_rotor_com_z}"/>
<mass value="${calf_rotor_mass}"/> <mass value="${calf_rotor_mass}"/>
<inertia <inertia
ixx="${calf_rotor_ixx}" ixy="${calf_rotor_ixy}" ixz="${calf_rotor_ixz}" ixx="${calf_rotor_ixx}" ixy="${calf_rotor_ixy}" ixz="${calf_rotor_ixz}"
iyy="${calf_rotor_iyy}" iyz="${calf_rotor_iyz}" iyy="${calf_rotor_iyy}" iyz="${calf_rotor_iyz}"
izz="${calf_rotor_izz}"/> izz="${calf_rotor_izz}"/>
</inertial> </inertial>
</link> </link>
<joint name="${name}_foot_fixed" type="fixed"> <joint name="${name}_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/> <origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
<parent link="${name}_calf"/> <parent link="${name}_calf"/>
<child link="${name}_foot"/> <child link="${name}_foot"/>
</joint> </joint>
<link name="${name}_foot"> <link name="${name}_foot">
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<sphere radius="${foot_radius-0.01}"/> <sphere radius="${foot_radius-0.01}"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<sphere radius="${foot_radius}"/> <sphere radius="${foot_radius}"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="${foot_mass}"/> <mass value="${foot_mass}"/>
<inertia <inertia
ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0" ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0" iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/> izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
</inertial> </inertial>
</link> </link>
<gazebo reference="{name}_hip"> <gazebo reference="{name}_hip">
<mu1>0.2</mu1> <mu1>0.2</mu1>
<mu2>0.2</mu2> <mu2>0.2</mu2>
</gazebo> </gazebo>
<gazebo reference="{name}_thigh"> <gazebo reference="{name}_thigh">
<mu1>0.2</mu1> <mu1>0.2</mu1>
<mu2>0.2</mu2> <mu2>0.2</mu2>
<self_collide>1</self_collide> <self_collide>0</self_collide>
<kp value="1000000.0"/> <kp value="1000000.0"/>
<kd value="1.0"/> <kd value="1.0"/>
</gazebo> </gazebo>
<gazebo reference="{name}_calf"> <gazebo reference="${name}_calf">
<mu1>0.2</mu1> <mu1>0.6</mu1>
<mu2>0.2</mu2> <mu2>0.6</mu2>
<self_collide>1</self_collide> <self_collide>1</self_collide>
</gazebo> </gazebo>
<gazebo reference="{name}_foot"> <gazebo reference="{name}_foot">
<mu1>0.6</mu1> <mu1>0.6</mu1>
<mu2>0.6</mu2> <mu2>0.6</mu2>
<self_collide>1</self_collide> <self_collide>1</self_collide>
<kp value="1000000.0"/> <kp value="1000000.0"/>
<kd value="1.0"/> <kd value="1.0"/>
</gazebo> </gazebo>
<xacro:leg_transmission name="${name}"/> <xacro:leg_transmission name="${name}"/>
</xacro:macro> </xacro:macro>
</robot> </robot>

66
descriptions/unitree/go1_description/xacro/materials.xacro
View File

@ -1,48 +1,48 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<robot> <robot>
<material name="black"> <material name="black">
<color rgba="0.0 0.0 0.0 1.0"/> <color rgba="0.0 0.0 0.0 1.0"/>
</material> </material>
<material name="blue"> <material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/> <color rgba="0.0 0.0 0.8 1.0"/>
</material> </material>
<material name="green"> <material name="green">
<color rgba="0.0 0.8 0.0 1.0"/> <color rgba="0.0 0.8 0.0 1.0"/>
</material> </material>
<material name="deep-grey"> <material name="deep-grey">
<color rgba="0.1 0.1 0.1 1.0"/> <color rgba="0.1 0.1 0.1 1.0"/>
</material> </material>
<material name="grey"> <material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/> <color rgba="0.2 0.2 0.2 1.0"/>
</material> </material>
<material name="light-grey"> <material name="light-grey">
<color rgba="0.35 0.35 0.35 1.0"/> <color rgba="0.35 0.35 0.35 1.0"/>
</material> </material>
<material name="silver"> <material name="silver">
<color rgba="${233/255} ${233/255} ${216/255} 1.0"/> <color rgba="${233/255} ${233/255} ${216/255} 1.0"/>
</material> </material>
<material name="orange"> <material name="orange">
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/> <color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
</material> </material>
<material name="brown"> <material name="brown">
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/> <color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
</material> </material>
<material name="red"> <material name="red">
<color rgba="0.8 0.0 0.0 1.0"/> <color rgba="0.8 0.0 0.0 1.0"/>
</material> </material>
<material name="white"> <material name="white">
<color rgba="1.0 1.0 1.0 1.0"/> <color rgba="1.0 1.0 1.0 1.0"/>
</material> </material>
</robot> </robot>

262
descriptions/unitree/go1_description/xacro/robot.xacro
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@ -2,157 +2,163 @@
<robot name="go1" xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot name="go1" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="DEBUG" default="false"/> <xacro:arg name="DEBUG" default="false"/>
<xacro:arg name="GAZEBO" default="false"/> <xacro:arg name="GAZEBO" default="false"/>
<xacro:arg name="CLASSIC" default="false"/>
<xacro:include filename="$(find go1_description)/xacro/const.xacro"/> <xacro:include filename="$(find go1_description)/xacro/const.xacro"/>
<xacro:include filename="$(find go1_description)/xacro/materials.xacro"/> <xacro:include filename="$(find go1_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find go1_description)/xacro/leg.xacro"/> <xacro:include filename="$(find go1_description)/xacro/leg.xacro"/>
<xacro:include filename="$(find go1_description)/xacro/depthCamera.xacro"/> <xacro:include filename="$(find go1_description)/xacro/depthCamera.xacro"/>
<xacro:include filename="$(find go1_description)/xacro/ultraSound.xacro"/> <xacro:include filename="$(find go1_description)/xacro/ultraSound.xacro"/>
<xacro:if value="$(arg GAZEBO)"> <xacro:if value="$(arg GAZEBO)">
<xacro:include filename="$(find go1_description)/xacro/gazebo.xacro"/> <xacro:if value="$(arg CLASSIC)">
</xacro:if> <xacro:include filename="$(find go1_description)/xacro/gazebo_classic.xacro"/>
<xacro:unless value="$(arg GAZEBO)"> </xacro:if>
<xacro:include filename="$(find go1_description)/xacro/ros2_control.xacro"/> <xacro:unless value="$(arg CLASSIC)">
</xacro:unless> <xacro:include filename="$(find go1_description)/xacro/gazebo.xacro"/>
</xacro:unless>
</xacro:if>
<xacro:unless value="$(arg GAZEBO)">
<xacro:include filename="$(find go1_description)/xacro/ros2_control.xacro"/>
</xacro:unless>
<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> --> <!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
<!-- Rotor related joint and link is only for demonstrate location. --> <!-- Rotor related joint and link is only for demonstrate location. -->
<!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. --> <!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. --> <!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<xacro:if value="$(arg DEBUG)"> <xacro:if value="$(arg DEBUG)">
<link name="world"/> <link name="world"/>
<joint name="base_static_joint" type="fixed"> <joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/> <parent link="world"/>
<child link="base"/> <child link="base"/>
</joint> </joint>
</xacro:if> </xacro:if>
<link name="base"> <link name="base">
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size="0.001 0.001 0.001"/> <box size="0.001 0.001 0.001"/>
</geometry> </geometry>
</visual> </visual>
</link> </link>
<joint name="floating_base" type="fixed"> <joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/> <parent link="base"/>
<child link="trunk"/> <child link="trunk"/>
</joint> </joint>
<link name="trunk"> <link name="trunk">
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="file://$(find go1_description)/meshes/trunk.dae" scale="1 1 1"/> <mesh filename="file://$(find go1_description)/meshes/trunk.dae" scale="1 1 1"/>
</geometry> </geometry>
<material name="light-grey"/> <material name="light-grey"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/> <box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/> <origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
<mass value="${trunk_mass}"/> <mass value="${trunk_mass}"/>
<inertia <inertia
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}" ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
iyy="${trunk_iyy}" iyz="${trunk_iyz}" iyy="${trunk_iyy}" iyz="${trunk_iyz}"
izz="${trunk_izz}"/> izz="${trunk_izz}"/>
</inertial> </inertial>
</link> </link>
<joint name="imu_joint" type="fixed"> <joint name="imu_joint" type="fixed">
<parent link="trunk"/> <parent link="trunk"/>
<child link="imu_link"/> <child link="imu_link"/>
<origin rpy="0 0 0" xyz="-0.01592 -0.06659 -0.00617"/> <origin rpy="0 0 0" xyz="-0.01592 -0.06659 -0.00617"/>
</joint> </joint>
<link name="imu_link"> <link name="imu_link">
<inertial> <inertial>
<mass value="0.001"/> <mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/> <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size="0.001 0.001 0.001"/> <box size="0.001 0.001 0.001"/>
</geometry> </geometry>
<!-- <material name="red"/> --> <!-- <material name="red"/> -->
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size=".001 .001 .001"/> <box size=".001 .001 .001"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1" front_hind_dae="True" /> <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="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" /> <xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False"/>
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False" /> <xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False"/>
<xacro:depthCamera camID="1" name="face"> <xacro:depthCamera camID="1" name="face">
<origin rpy="${PI} 0 0" xyz="0.2785 0.0125 0.0167"/> <origin rpy="${PI} 0 0" xyz="0.2785 0.0125 0.0167"/>
</xacro:depthCamera> </xacro:depthCamera>
<xacro:depthCamera camID="2" name="chin"> <xacro:depthCamera camID="2" name="chin">
<origin rpy="${PI} ${PI/2} 0" xyz="0.2522 0.0125 -0.0436"/> <origin rpy="${PI} ${PI/2} 0" xyz="0.2522 0.0125 -0.0436"/>
</xacro:depthCamera> </xacro:depthCamera>
<xacro:depthCamera camID="3" name="left"> <xacro:depthCamera camID="3" name="left">
<origin rpy="${PI} 0.2618 ${PI/2}" xyz="-0.066 0.082 -0.0176"/> <origin rpy="${PI} 0.2618 ${PI/2}" xyz="-0.066 0.082 -0.0176"/>
</xacro:depthCamera> </xacro:depthCamera>
<xacro:depthCamera camID="4" name="right"> <xacro:depthCamera camID="4" name="right">
<origin rpy="${PI} 0.2618 ${-PI/2}" xyz="-0.041 -0.082 -0.0176"/> <origin rpy="${PI} 0.2618 ${-PI/2}" xyz="-0.041 -0.082 -0.0176"/>
</xacro:depthCamera> </xacro:depthCamera>
<xacro:depthCamera camID="5" name="rearDown"> <xacro:depthCamera camID="5" name="rearDown">
<origin rpy="${PI} ${PI/2} 0" xyz="-0.0825 0.0125 -0.04365"/> <origin rpy="${PI} ${PI/2} 0" xyz="-0.0825 0.0125 -0.04365"/>
</xacro:depthCamera> </xacro:depthCamera>
<joint name="camera_laserscan_joint_left" type="fixed"> <joint name="camera_laserscan_joint_left" type="fixed">
<origin rpy="0 0.2618 0" xyz="0 0 0"/> <origin rpy="0 0.2618 0" xyz="0 0 0"/>
<parent link="camera_left"/> <parent link="camera_left"/>
<child link="camera_laserscan_link_left"/> <child link="camera_laserscan_link_left"/>
</joint> </joint>
<link name="camera_laserscan_link_left"> <link name="camera_laserscan_link_left">
</link> </link>
<joint name="camera_laserscan_joint_right" type="fixed"> <joint name="camera_laserscan_joint_right" type="fixed">
<origin rpy="0 0.2618 0" xyz="0 0 0"/> <origin rpy="0 0.2618 0" xyz="0 0 0"/>
<parent link="camera_right"/> <parent link="camera_right"/>
<child link="camera_laserscan_link_right"/> <child link="camera_laserscan_link_right"/>
</joint> </joint>
<link name="camera_laserscan_link_right"> <link name="camera_laserscan_link_right">
</link> </link>
<xacro:ultraSound name="left"> <xacro:ultraSound name="left">
<origin rpy="0 0.2618 ${PI/2}" xyz="-0.0535 0.0826 0.00868"/> <origin rpy="0 0.2618 ${PI/2}" xyz="-0.0535 0.0826 0.00868"/>
</xacro:ultraSound> </xacro:ultraSound>
<xacro:ultraSound name="right"> <xacro:ultraSound name="right">
<origin rpy="0 0.2618 ${-PI/2}" xyz="-0.0535 -0.0826 0.00868"/> <origin rpy="0 0.2618 ${-PI/2}" xyz="-0.0535 -0.0826 0.00868"/>
</xacro:ultraSound> </xacro:ultraSound>
<xacro:ultraSound name="face"> <xacro:ultraSound name="face">
<origin rpy="0 0 0" xyz="0.2747 0.0 -0.0088"/> <origin rpy="0 0 0" xyz="0.2747 0.0 -0.0088"/>
</xacro:ultraSound> </xacro:ultraSound>
</robot> </robot>

286
descriptions/unitree/go1_description/xacro/ros2_control.xacro
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@ -1,176 +1,176 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<ros2_control name="UnitreeSystem" type="system"> <ros2_control name="UnitreeSystem" type="system">
<hardware> <hardware>
<plugin>hardware_unitree_mujoco/HardwareUnitree</plugin> <plugin>hardware_unitree_mujoco/HardwareUnitree</plugin>
</hardware> </hardware>
<joint name="FR_hip_joint"> <joint name="FR_hip_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FR_thigh_joint"> <joint name="FR_thigh_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FR_calf_joint"> <joint name="FR_calf_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FL_hip_joint"> <joint name="FL_hip_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FL_thigh_joint"> <joint name="FL_thigh_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FL_calf_joint"> <joint name="FL_calf_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RR_hip_joint"> <joint name="RR_hip_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RR_thigh_joint"> <joint name="RR_thigh_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RR_calf_joint"> <joint name="RR_calf_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RL_hip_joint"> <joint name="RL_hip_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RL_thigh_joint"> <joint name="RL_thigh_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RL_calf_joint"> <joint name="RL_calf_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<sensor name="imu_sensor"> <sensor name="imu_sensor">
<state_interface name="orientation.w"/> <state_interface name="orientation.w"/>
<state_interface name="orientation.x"/> <state_interface name="orientation.x"/>
<state_interface name="orientation.y"/> <state_interface name="orientation.y"/>
<state_interface name="orientation.z"/> <state_interface name="orientation.z"/>
<state_interface name="angular_velocity.x"/> <state_interface name="angular_velocity.x"/>
<state_interface name="angular_velocity.y"/> <state_interface name="angular_velocity.y"/>
<state_interface name="angular_velocity.z"/> <state_interface name="angular_velocity.z"/>
<state_interface name="linear_acceleration.x"/> <state_interface name="linear_acceleration.x"/>
<state_interface name="linear_acceleration.y"/> <state_interface name="linear_acceleration.y"/>
<state_interface name="linear_acceleration.z"/> <state_interface name="linear_acceleration.z"/>
</sensor> </sensor>
<sensor name="foot_force"> <sensor name="foot_force">
<state_interface name="FR"/> <state_interface name="FR"/>
<state_interface name="FL"/> <state_interface name="FL"/>
<state_interface name="RR"/> <state_interface name="RR"/>
<state_interface name="RL"/> <state_interface name="RL"/>
</sensor> </sensor>
</ros2_control> </ros2_control>
</robot> </robot>

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descriptions/unitree/go1_description/xacro/transmission.xacro
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@ -2,41 +2,41 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="leg_transmission" params="name"> <xacro:macro name="leg_transmission" params="name">
<transmission name="${name}_hip_tran"> <transmission name="${name}_hip_tran">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_hip_joint"> <joint name="${name}_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="${name}_hip_motor"> <actuator name="${name}_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
<transmission name="${name}_thigh_tran"> <transmission name="${name}_thigh_tran">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_thigh_joint"> <joint name="${name}_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="${name}_thigh_motor"> <actuator name="${name}_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
<transmission name="${name}_calf_tran"> <transmission name="${name}_calf_tran">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_calf_joint"> <joint name="${name}_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="${name}_calf_motor"> <actuator name="${name}_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
</xacro:macro> </xacro:macro>
</robot> </robot>

54
descriptions/unitree/go1_description/xacro/ultraSound.xacro
View File

@ -1,33 +1,33 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="ultraSound" params="name *origin"> <xacro:macro name="ultraSound" params="name *origin">
<joint name="ultraSound_joint_${name}" type="fixed"> <joint name="ultraSound_joint_${name}" type="fixed">
<xacro:insert_block name="origin"/> <xacro:insert_block name="origin"/>
<parent link="trunk"/> <parent link="trunk"/>
<child link="ultraSound_${name}"/> <child link="ultraSound_${name}"/>
</joint> </joint>
<link name="ultraSound_${name}"> <link name="ultraSound_${name}">
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<geometry> <geometry>
<box size=".001 .001 .001"/> <box size=".001 .001 .001"/>
</geometry> </geometry>
</collision> </collision>
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<geometry> <geometry>
<mesh filename="file://$(find go1_description)/meshes/ultraSound.dae" scale="1 1 1"/> <mesh filename="file://$(find go1_description)/meshes/ultraSound.dae" scale="1 1 1"/>
</geometry> </geometry>
<material name="black"/> <material name="black"/>
</visual> </visual>
<inertial> <inertial>
<mass value="1e-5" /> <mass value="1e-5"/>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" /> <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial> </inertial>
</link> </link>
</xacro:macro> </xacro:macro>
</robot> </robot>

6
descriptions/unitree/go2_description/config/gazebo.yaml
View File

@ -1,7 +1,7 @@
# Controller Manager configuration # Controller Manager configuration
controller_manager: controller_manager:
ros__parameters: ros__parameters:
update_rate: 2000 # Hz update_rate: 1000 # Hz
# Define the available controllers # Define the available controllers
joint_state_broadcaster: joint_state_broadcaster:
@ -26,7 +26,7 @@ imu_sensor_broadcaster:
leg_pd_controller: leg_pd_controller:
ros__parameters: ros__parameters:
update_rate: 500 # Hz update_rate: 1000 # Hz
joints: joints:
- FR_hip_joint - FR_hip_joint
- FR_thigh_joint - FR_thigh_joint
@ -50,7 +50,7 @@ leg_pd_controller:
unitree_guide_controller: unitree_guide_controller:
ros__parameters: ros__parameters:
update_rate: 500 # Hz update_rate: 200 # Hz
command_prefix: "leg_pd_controller" command_prefix: "leg_pd_controller"
joints: joints:
- FR_hip_joint - FR_hip_joint

198
descriptions/unitree/go2_description/xacro/const.xacro
View File

@ -2,120 +2,120 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Constants for robot dimensions --> <!-- Constants for robot dimensions -->
<xacro:property name="PI" value="3.1415926535897931"/> <xacro:property name="PI" value="3.1415926535897931"/>
<xacro:property name="stick_mass" value="0.00001"/> <xacro:property name="stick_mass" value="0.00001"/>
<!-- simplified collision value --> <!-- simplified collision value -->
<xacro:property name="trunk_width" value="0.0935"/> <xacro:property name="trunk_width" value="0.0935"/>
<xacro:property name="trunk_length" value="0.3762"/> <xacro:property name="trunk_length" value="0.3762"/>
<xacro:property name="trunk_height" value="0.114"/> <xacro:property name="trunk_height" value="0.114"/>
<xacro:property name="hip_radius" value="0.046"/> <xacro:property name="hip_radius" value="0.046"/>
<xacro:property name="hip_length" value="0.04"/> <xacro:property name="hip_length" value="0.04"/>
<xacro:property name="thigh_shoulder_radius" value="0.041"/> <xacro:property name="thigh_shoulder_radius" value="0.041"/>
<xacro:property name="thigh_shoulder_length" value="0.032"/> <xacro:property name="thigh_shoulder_length" value="0.032"/>
<xacro:property name="thigh_width" value="0.0245"/> <xacro:property name="thigh_width" value="0.0245"/>
<xacro:property name="thigh_height" value="0.034"/> <xacro:property name="thigh_height" value="0.034"/>
<xacro:property name="calf_width" value="0.016"/> <xacro:property name="calf_width" value="0.016"/>
<xacro:property name="calf_height" value="0.016"/> <xacro:property name="calf_height" value="0.016"/>
<xacro:property name="foot_radius" value="0.02"/> <xacro:property name="foot_radius" value="0.02"/>
<xacro:property name="stick_radius" value="0.01"/> <xacro:property name="stick_radius" value="0.01"/>
<xacro:property name="stick_length" value="0.2"/> <xacro:property name="stick_length" value="0.2"/>
<!-- kinematic value --> <!-- kinematic value -->
<xacro:property name="thigh_offset" value="0.0955"/> <xacro:property name="thigh_offset" value="0.0955"/>
<xacro:property name="thigh_length" value="0.213"/> <xacro:property name="thigh_length" value="0.213"/>
<xacro:property name="calf_length" value="0.213"/> <xacro:property name="calf_length" value="0.213"/>
<!-- leg offset from trunk center value --> <!-- leg offset from trunk center value -->
<xacro:property name="leg_offset_x" value="0.1934"/> <xacro:property name="leg_offset_x" value="0.1934"/>
<xacro:property name="leg_offset_y" value="0.0465"/> <xacro:property name="leg_offset_y" value="0.0465"/>
<!-- <xacro:property name="trunk_offset_z" value="0.01675"/> --> <!-- <xacro:property name="trunk_offset_z" value="0.01675"/> -->
<xacro:property name="hip_offset" value="0.0955"/> <xacro:property name="hip_offset" value="0.0955"/>
<!-- offset of link locations (left front) --> <!-- offset of link locations (left front) -->
<xacro:property name="hip_offset_x" value="0.1934"/> <xacro:property name="hip_offset_x" value="0.1934"/>
<xacro:property name="hip_offset_y" value="0.0465"/> <xacro:property name="hip_offset_y" value="0.0465"/>
<xacro:property name="hip_offset_z" value="0.0"/> <xacro:property name="hip_offset_z" value="0.0"/>
<xacro:property name="thigh_offset_x" value="0"/> <xacro:property name="thigh_offset_x" value="0"/>
<xacro:property name="thigh_offset_y" value="0.0955"/> <xacro:property name="thigh_offset_y" value="0.0955"/>
<xacro:property name="thigh_offset_z" value="0.0"/> <xacro:property name="thigh_offset_z" value="0.0"/>
<xacro:property name="calf_offset_x" value="0.0"/> <xacro:property name="calf_offset_x" value="0.0"/>
<xacro:property name="calf_offset_y" value="0.0"/> <xacro:property name="calf_offset_y" value="0.0"/>
<xacro:property name="calf_offset_z" value="-0.213"/> <xacro:property name="calf_offset_z" value="-0.213"/>
<!-- joint limits --> <!-- joint limits -->
<xacro:property name="damping" value="0.0"/> <xacro:property name="damping" value="0.0"/>
<xacro:property name="friction" value="0.0"/> <xacro:property name="friction" value="0.0"/>
<xacro:property name="hip_position_max" value="1.0472"/> <xacro:property name="hip_position_max" value="1.0472"/>
<xacro:property name="hip_position_min" value="-1.0472"/> <xacro:property name="hip_position_min" value="-1.0472"/>
<xacro:property name="hip_velocity_max" value="30.1"/> <xacro:property name="hip_velocity_max" value="30.1"/>
<xacro:property name="hip_torque_max" value="23.7"/> <xacro:property name="hip_torque_max" value="23.7"/>
<xacro:property name="thigh_position_max" value="3.4907"/> <xacro:property name="thigh_position_max" value="3.4907"/>
<xacro:property name="thigh_position_min" value="-1.5708"/> <xacro:property name="thigh_position_min" value="-1.5708"/>
<xacro:property name="thigh_velocity_max" value="30.1"/> <xacro:property name="thigh_velocity_max" value="30.1"/>
<xacro:property name="thigh_torque_max" value="23.7"/> <xacro:property name="thigh_torque_max" value="23.7"/>
<xacro:property name="calf_position_max" value="-0.83776"/> <xacro:property name="calf_position_max" value="-0.83776"/>
<xacro:property name="calf_position_min" value="-2.7227"/> <xacro:property name="calf_position_min" value="-2.7227"/>
<xacro:property name="calf_velocity_max" value="20.06"/> <xacro:property name="calf_velocity_max" value="20.06"/>
<xacro:property name="calf_torque_max" value="35.55"/> <xacro:property name="calf_torque_max" value="35.55"/>
<!-- dynamics inertial value --> <!-- dynamics inertial value -->
<!-- trunk --> <!-- trunk -->
<xacro:property name="trunk_mass" value="6.921"/> <xacro:property name="trunk_mass" value="6.921"/>
<xacro:property name="trunk_com_x" value="0.021112"/> <xacro:property name="trunk_com_x" value="0.021112"/>
<xacro:property name="trunk_com_y" value="0.00"/> <xacro:property name="trunk_com_y" value="0.00"/>
<xacro:property name="trunk_com_z" value="-0.005366"/> <xacro:property name="trunk_com_z" value="-0.005366"/>
<xacro:property name="trunk_ixx" value="0.02448"/> <xacro:property name="trunk_ixx" value="0.02448"/>
<xacro:property name="trunk_ixy" value="0.00012166"/> <xacro:property name="trunk_ixy" value="0.00012166"/>
<xacro:property name="trunk_ixz" value="0.0014849"/> <xacro:property name="trunk_ixz" value="0.0014849"/>
<xacro:property name="trunk_iyy" value="0.098077"/> <xacro:property name="trunk_iyy" value="0.098077"/>
<xacro:property name="trunk_iyz" value="-3.12E-05"/> <xacro:property name="trunk_iyz" value="-3.12E-05"/>
<xacro:property name="trunk_izz" value="0.107"/> <xacro:property name="trunk_izz" value="0.107"/>
<!-- hip (left front) --> <!-- hip (left front) -->
<xacro:property name="hip_mass" value="0.678"/> <xacro:property name="hip_mass" value="0.678"/>
<xacro:property name="hip_com_x" value="-0.0054"/> <xacro:property name="hip_com_x" value="-0.0054"/>
<xacro:property name="hip_com_y" value="0.00194"/> <xacro:property name="hip_com_y" value="0.00194"/>
<xacro:property name="hip_com_z" value="-0.000105"/> <xacro:property name="hip_com_z" value="-0.000105"/>
<xacro:property name="hip_ixx" value="0.00048"/> <xacro:property name="hip_ixx" value="0.00048"/>
<xacro:property name="hip_ixy" value="-3.01E-06"/> <xacro:property name="hip_ixy" value="-3.01E-06"/>
<xacro:property name="hip_ixz" value="1.11E-06"/> <xacro:property name="hip_ixz" value="1.11E-06"/>
<xacro:property name="hip_iyy" value="0.000884"/> <xacro:property name="hip_iyy" value="0.000884"/>
<xacro:property name="hip_iyz" value="-1.42E-06"/> <xacro:property name="hip_iyz" value="-1.42E-06"/>
<xacro:property name="hip_izz" value="0.000596"/> <xacro:property name="hip_izz" value="0.000596"/>
<!-- thigh --> <!-- thigh -->
<xacro:property name="thigh_mass" value="1.152"/> <xacro:property name="thigh_mass" value="1.152"/>
<xacro:property name="thigh_com_x" value="-0.00374"/> <xacro:property name="thigh_com_x" value="-0.00374"/>
<xacro:property name="thigh_com_y" value="-0.0223"/> <xacro:property name="thigh_com_y" value="-0.0223"/>
<xacro:property name="thigh_com_z" value="-0.0327"/> <xacro:property name="thigh_com_z" value="-0.0327"/>
<xacro:property name="thigh_ixx" value="0.00584"/> <xacro:property name="thigh_ixx" value="0.00584"/>
<xacro:property name="thigh_ixy" value="8.72E-05"/> <xacro:property name="thigh_ixy" value="8.72E-05"/>
<xacro:property name="thigh_ixz" value="-0.000289"/> <xacro:property name="thigh_ixz" value="-0.000289"/>
<xacro:property name="thigh_iyy" value="0.0058"/> <xacro:property name="thigh_iyy" value="0.0058"/>
<xacro:property name="thigh_iyz" value="0.000808"/> <xacro:property name="thigh_iyz" value="0.000808"/>
<xacro:property name="thigh_izz" value="0.00103"/> <xacro:property name="thigh_izz" value="0.00103"/>
<!-- calf --> <!-- calf -->
<xacro:property name="calf_mass" value="0.154"/> <xacro:property name="calf_mass" value="0.154"/>
<xacro:property name="calf_com_x" value="0.00548"/> <xacro:property name="calf_com_x" value="0.00548"/>
<xacro:property name="calf_com_y" value="-0.000975"/> <xacro:property name="calf_com_y" value="-0.000975"/>
<xacro:property name="calf_com_z" value="-0.115"/> <xacro:property name="calf_com_z" value="-0.115"/>
<xacro:property name="calf_ixx" value="0.00108"/> <xacro:property name="calf_ixx" value="0.00108"/>
<xacro:property name="calf_ixy" value="3.4E-07"/> <xacro:property name="calf_ixy" value="3.4E-07"/>
<xacro:property name="calf_ixz" value="1.72E-05"/> <xacro:property name="calf_ixz" value="1.72E-05"/>
<xacro:property name="calf_iyy" value="0.0011"/> <xacro:property name="calf_iyy" value="0.0011"/>
<xacro:property name="calf_iyz" value="8.28E-06"/> <xacro:property name="calf_iyz" value="8.28E-06"/>
<xacro:property name="calf_izz" value="3.29E-05"/> <xacro:property name="calf_izz" value="3.29E-05"/>
<!-- foot --> <!-- foot -->
<xacro:property name="foot_mass" value="0.06"/> <xacro:property name="foot_mass" value="0.06"/>
</robot> </robot>

334
descriptions/unitree/go2_description/xacro/gazebo.xacro
View File

@ -1,188 +1,188 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<ros2_control name="GazeboSystem" type="system"> <ros2_control name="GazeboSystem" type="system">
<hardware> <hardware>
<plugin>gz_ros2_control/GazeboSimSystem</plugin> <plugin>gz_ros2_control/GazeboSimSystem</plugin>
</hardware> </hardware>
<joint name="FR_hip_joint"> <joint name="FR_hip_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FR_thigh_joint"> <joint name="FR_thigh_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FR_calf_joint"> <joint name="FR_calf_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FL_hip_joint"> <joint name="FL_hip_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FL_thigh_joint"> <joint name="FL_thigh_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FL_calf_joint"> <joint name="FL_calf_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RR_hip_joint"> <joint name="RR_hip_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RR_thigh_joint"> <joint name="RR_thigh_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RR_calf_joint"> <joint name="RR_calf_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RL_hip_joint"> <joint name="RL_hip_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RL_thigh_joint"> <joint name="RL_thigh_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RL_calf_joint"> <joint name="RL_calf_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<sensor name="imu_sensor"> <sensor name="imu_sensor">
<state_interface name="orientation.x"/> <state_interface name="orientation.x"/>
<state_interface name="orientation.y"/> <state_interface name="orientation.y"/>
<state_interface name="orientation.z"/> <state_interface name="orientation.z"/>
<state_interface name="orientation.w"/> <state_interface name="orientation.w"/>
<state_interface name="angular_velocity.x"/> <state_interface name="angular_velocity.x"/>
<state_interface name="angular_velocity.y"/> <state_interface name="angular_velocity.y"/>
<state_interface name="angular_velocity.z"/> <state_interface name="angular_velocity.z"/>
<state_interface name="linear_acceleration.x"/> <state_interface name="linear_acceleration.x"/>
<state_interface name="linear_acceleration.y"/> <state_interface name="linear_acceleration.y"/>
<state_interface name="linear_acceleration.z"/> <state_interface name="linear_acceleration.z"/>
</sensor> </sensor>
</ros2_control> </ros2_control>
<gazebo> <gazebo>
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin"> <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>$(find go2_description)/config/gazebo.yaml</parameters> <parameters>$(find go2_description)/config/gazebo.yaml</parameters>
</plugin> </plugin>
<plugin filename="gz-sim-imu-system" <plugin filename="gz-sim-imu-system"
name="gz::sim::systems::Imu"> name="gz::sim::systems::Imu">
</plugin> </plugin>
</gazebo> </gazebo>
<gazebo reference="trunk"> <gazebo reference="trunk">
<mu1>0.6</mu1> <mu1>0.6</mu1>
<mu2>0.6</mu2> <mu2>0.6</mu2>
<self_collide>1</self_collide> <self_collide>1</self_collide>
</gazebo> </gazebo>
<gazebo reference="imu_link"> <gazebo reference="imu_link">
<sensor name="imu_sensor" type="imu"> <sensor name="imu_sensor" type="imu">
<always_on>1</always_on> <always_on>1</always_on>
<update_rate>500</update_rate> <update_rate>500</update_rate>
<visualize>true</visualize> <visualize>true</visualize>
<topic>imu</topic> <topic>imu</topic>
<imu> <imu>
<angular_velocity> <angular_velocity>
<x> <x>
<noise type="gaussian"> <noise type="gaussian">
<mean>0.0</mean> <mean>0.0</mean>
<stddev>2e-4</stddev> <stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean> <bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev> <bias_stddev>0.0000008</bias_stddev>
</noise> </noise>
</x> </x>
<y> <y>
<noise type="gaussian"> <noise type="gaussian">
<mean>0.0</mean> <mean>0.0</mean>
<stddev>2e-4</stddev> <stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean> <bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev> <bias_stddev>0.0000008</bias_stddev>
</noise> </noise>
</y> </y>
<z> <z>
<noise type="gaussian"> <noise type="gaussian">
<mean>0.0</mean> <mean>0.0</mean>
<stddev>2e-4</stddev> <stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean> <bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev> <bias_stddev>0.0000008</bias_stddev>
</noise> </noise>
</z> </z>
</angular_velocity> </angular_velocity>
<linear_acceleration> <linear_acceleration>
<x> <x>
<noise type="gaussian"> <noise type="gaussian">
<mean>0.0</mean> <mean>0.0</mean>
<stddev>1.7e-2</stddev> <stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean> <bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev> <bias_stddev>0.001</bias_stddev>
</noise> </noise>
</x> </x>
<y> <y>
<noise type="gaussian"> <noise type="gaussian">
<mean>0.0</mean> <mean>0.0</mean>
<stddev>1.7e-2</stddev> <stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean> <bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev> <bias_stddev>0.001</bias_stddev>
</noise> </noise>
</y> </y>
<z> <z>
<noise type="gaussian"> <noise type="gaussian">
<mean>0.0</mean> <mean>0.0</mean>
<stddev>1.7e-2</stddev> <stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean> <bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev> <bias_stddev>0.001</bias_stddev>
</noise> </noise>
</z> </z>
</linear_acceleration> </linear_acceleration>
</imu> </imu>
</sensor> </sensor>
</gazebo> </gazebo>
<gazebo reference="imu_joint"> <gazebo reference="imu_joint">
<disableFixedJointLumping>true</disableFixedJointLumping> <disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo> </gazebo>
</robot> </robot>

236
descriptions/unitree/go2_description/xacro/gazebo_classic.xacro
View File

@ -1,139 +1,139 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<ros2_control name="GazeboSystem" type="system"> <ros2_control name="GazeboSystem" type="system">
<hardware> <hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin> <plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware> </hardware>
<joint name="FR_hip_joint"> <joint name="FR_hip_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FR_thigh_joint"> <joint name="FR_thigh_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FR_calf_joint"> <joint name="FR_calf_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FL_hip_joint"> <joint name="FL_hip_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FL_thigh_joint"> <joint name="FL_thigh_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FL_calf_joint"> <joint name="FL_calf_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RR_hip_joint"> <joint name="RR_hip_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RR_thigh_joint"> <joint name="RR_thigh_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RR_calf_joint"> <joint name="RR_calf_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RL_hip_joint"> <joint name="RL_hip_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RL_thigh_joint"> <joint name="RL_thigh_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RL_calf_joint"> <joint name="RL_calf_joint">
<command_interface name="effort" initial_value="0.0"/> <command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<sensor name="imu_sensor"> <sensor name="imu_sensor">
<state_interface name="orientation.x"/> <state_interface name="orientation.x"/>
<state_interface name="orientation.y"/> <state_interface name="orientation.y"/>
<state_interface name="orientation.z"/> <state_interface name="orientation.z"/>
<state_interface name="orientation.w"/> <state_interface name="orientation.w"/>
<state_interface name="angular_velocity.x"/> <state_interface name="angular_velocity.x"/>
<state_interface name="angular_velocity.y"/> <state_interface name="angular_velocity.y"/>
<state_interface name="angular_velocity.z"/> <state_interface name="angular_velocity.z"/>
<state_interface name="linear_acceleration.x"/> <state_interface name="linear_acceleration.x"/>
<state_interface name="linear_acceleration.y"/> <state_interface name="linear_acceleration.y"/>
<state_interface name="linear_acceleration.z"/> <state_interface name="linear_acceleration.z"/>
</sensor> </sensor>
</ros2_control> </ros2_control>
<gazebo> <gazebo>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control"> <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
<parameters>$(find go2_description)/config/gazebo.yaml</parameters> <parameters>$(find go2_description)/config/gazebo.yaml</parameters>
</plugin> </plugin>
</gazebo> </gazebo>
<gazebo reference="trunk"> <gazebo reference="trunk">
<mu1>0.6</mu1> <mu1>0.6</mu1>
<mu2>0.6</mu2> <mu2>0.6</mu2>
<self_collide>1</self_collide> <self_collide>1</self_collide>
</gazebo> </gazebo>
<gazebo reference="imu_link"> <gazebo reference="imu_link">
<gravity>true</gravity> <gravity>true</gravity>
<sensor name="imu_sensor" type="imu"> <sensor name="imu_sensor" type="imu">
<always_on>true</always_on> <always_on>true</always_on>
<update_rate>1000</update_rate> <update_rate>1000</update_rate>
<visualize>true</visualize> <visualize>true</visualize>
<topic>__default_topic__</topic> <topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin"> <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>trunk_imu</topicName> <topicName>trunk_imu</topicName>
<bodyName>imu_link</bodyName> <bodyName>imu_link</bodyName>
<updateRateHZ>1000.0</updateRateHZ> <updateRateHZ>1000.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise> <gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset> <xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset> <rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName> <frameName>imu_link</frameName>
</plugin> </plugin>
<pose>0 0 0 0 0 0</pose> <pose>0 0 0 0 0 0</pose>
</sensor> </sensor>
</gazebo> </gazebo>
</robot> </robot>

32
descriptions/unitree/go2_description/xacro/leg.xacro
View File

@ -25,11 +25,11 @@
<dynamics damping="${damping}" friction="${friction}"/> <dynamics damping="${damping}" friction="${friction}"/>
<xacro:if value="${(mirror_dae == True)}"> <xacro:if value="${(mirror_dae == True)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_position_min}" <limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_position_min}"
upper="${hip_position_max}"/> upper="${hip_position_max}"/>
</xacro:if> </xacro:if>
<xacro:if value="${(mirror_dae == False)}"> <xacro:if value="${(mirror_dae == False)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_position_max}" <limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_position_max}"
upper="${-hip_position_min}"/> upper="${-hip_position_min}"/>
</xacro:if> </xacro:if>
</joint> </joint>
@ -62,9 +62,9 @@
<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/> <origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
<mass value="${hip_mass}"/> <mass value="${hip_mass}"/>
<inertia <inertia
ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}" ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
iyy="${hip_iyy}" iyz="${hip_iyz*mirror}" iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
izz="${hip_izz}"/> izz="${hip_izz}"/>
</inertial> </inertial>
</link> </link>
@ -75,7 +75,7 @@
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/> <dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_position_min}" <limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_position_min}"
upper="${thigh_position_max}"/> upper="${thigh_position_max}"/>
</joint> </joint>
@ -101,9 +101,9 @@
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/> <origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
<mass value="${thigh_mass}"/> <mass value="${thigh_mass}"/>
<inertia <inertia
ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}" ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}" iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
izz="${thigh_izz}"/> izz="${thigh_izz}"/>
</inertial> </inertial>
</link> </link>
@ -115,7 +115,7 @@
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/> <dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}" <limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}"
upper="${calf_position_max}"/> upper="${calf_position_max}"/>
</joint> </joint>
@ -136,9 +136,9 @@
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/> <origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
<mass value="${calf_mass}"/> <mass value="${calf_mass}"/>
<inertia <inertia
ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}" ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
iyy="${calf_iyy}" iyz="${calf_iyz}" iyy="${calf_iyy}" iyz="${calf_iyz}"
izz="${calf_izz}"/> izz="${calf_izz}"/>
</inertial> </inertial>
</link> </link>
@ -165,9 +165,9 @@
<inertial> <inertial>
<mass value="${foot_mass}"/> <mass value="${foot_mass}"/>
<inertia <inertia
ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0" ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0" iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/> izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
</inertial> </inertial>
</link> </link>

54
descriptions/unitree/go2_description/xacro/materials.xacro
View File

@ -1,40 +1,40 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<robot> <robot>
<material name="black"> <material name="black">
<color rgba="0.0 0.0 0.0 1.0"/> <color rgba="0.0 0.0 0.0 1.0"/>
</material> </material>
<material name="blue"> <material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/> <color rgba="0.0 0.0 0.8 1.0"/>
</material> </material>
<material name="green"> <material name="green">
<color rgba="0.0 0.8 0.0 1.0"/> <color rgba="0.0 0.8 0.0 1.0"/>
</material> </material>
<material name="grey"> <material name="grey">
<color rgba="0.2 0.2 0.2 0.0"/> <color rgba="0.2 0.2 0.2 0.0"/>
</material> </material>
<material name="silver"> <material name="silver">
<color rgba="${233/255} ${233/255} ${216/255} 1.0"/> <color rgba="${233/255} ${233/255} ${216/255} 1.0"/>
</material> </material>
<material name="orange"> <material name="orange">
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/> <color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
</material> </material>
<material name="brown"> <material name="brown">
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/> <color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
</material> </material>
<material name="red"> <material name="red">
<color rgba="0.8 0.0 0.0 1.0"/> <color rgba="0.8 0.0 0.0 1.0"/>
</material> </material>
<material name="white"> <material name="white">
<color rgba="1.0 1.0 1.0 1.0"/> <color rgba="1.0 1.0 1.0 1.0"/>
</material> </material>
</robot> </robot>

256
descriptions/unitree/go2_description/xacro/robot.xacro
View File

@ -2,136 +2,154 @@
<robot name="go2" xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot name="go2" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="DEBUG" default="false"/> <xacro:arg name="DEBUG" default="false"/>
<xacro:arg name="GAZEBO" default="false"/> <xacro:arg name="GAZEBO" default="false"/>
<xacro:arg name="CLASSIC" default="false"/> <xacro:arg name="CLASSIC" default="false"/>
<xacro:include filename="$(find go2_description)/xacro/const.xacro"/> <xacro:include filename="$(find go2_description)/xacro/const.xacro"/>
<xacro:include filename="$(find go2_description)/xacro/materials.xacro"/> <xacro:include filename="$(find go2_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find go2_description)/xacro/leg.xacro"/> <xacro:include filename="$(find go2_description)/xacro/leg.xacro"/>
<xacro:if value="$(arg GAZEBO)"> <xacro:if value="$(arg GAZEBO)">
<xacro:if value="$(arg CLASSIC)"> <xacro:if value="$(arg CLASSIC)">
<xacro:include filename="$(find go2_description)/xacro/gazebo_classic.xacro"/> <xacro:include filename="$(find go2_description)/xacro/gazebo_classic.xacro"/>
</xacro:if> </xacro:if>
<xacro:unless value="$(arg CLASSIC)"> <xacro:unless value="$(arg CLASSIC)">
<xacro:include filename="$(find go2_description)/xacro/gazebo.xacro"/> <xacro:include filename="$(find go2_description)/xacro/gazebo.xacro"/>
</xacro:unless> </xacro:unless>
</xacro:if> </xacro:if>
<xacro:unless value="$(arg GAZEBO)"> <xacro:unless value="$(arg GAZEBO)">
<xacro:include filename="$(find go2_description)/xacro/ros2_control.xacro"/> <xacro:include filename="$(find go2_description)/xacro/ros2_control.xacro"/>
</xacro:unless> </xacro:unless>
<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> --> <!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
<!-- Rotor related joint and link is only for demonstrate location. --> <!-- Rotor related joint and link is only for demonstrate location. -->
<!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. --> <!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. --> <!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<xacro:if value="$(arg DEBUG)"> <xacro:if value="$(arg DEBUG)">
<link name="world"/> <link name="world"/>
<joint name="base_static_joint" type="fixed"> <joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/> <parent link="world"/>
<child link="base"/> <child link="base"/>
</joint> </joint>
</xacro:if> </xacro:if>
<link name="base"> <link name="base">
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size="0.001 0.001 0.001"/> <box size="0.001 0.001 0.001"/>
</geometry> </geometry>
</visual> </visual>
</link> </link>
<joint name="floating_base" type="fixed"> <joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/> <parent link="base"/>
<child link="trunk"/> <child link="trunk"/>
</joint> </joint>
<link name="trunk"> <link name="trunk">
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="file://$(find go2_description)/meshes/trunk.dae" scale="1 1 1"/> <mesh filename="file://$(find go2_description)/meshes/trunk.dae" scale="1 1 1"/>
</geometry> </geometry>
<!-- <material name="orange"/> --> <!-- <material name="orange"/> -->
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/> <box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <collision>
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="${trunk_mass}"/> <geometry>
<inertia <box size="0.1881 0.04675 0.057"/>
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}" </geometry>
iyy="${trunk_iyy}" iyz="${trunk_iyz}" </collision>
izz="${trunk_izz}"/> <collision>
</inertial> <origin rpy="0 0 0" xyz="0.285 0 0.01"/>
</link> <geometry>
<cylinder length="0.05" radius="0.045"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.293 0 -0.06"/>
<geometry>
<box size="0.047 0.047 0.047"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
<mass value="${trunk_mass}"/>
<inertia
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
iyy="${trunk_iyy}" iyz="${trunk_iyz}"
izz="${trunk_izz}"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed"> <joint name="imu_joint" type="fixed">
<parent link="trunk"/> <parent link="trunk"/>
<child link="imu_link"/> <child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
</joint> </joint>
<link name="imu_link"> <link name="imu_link">
<inertial> <inertial>
<mass value="0.001"/> <mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/> <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size="0.001 0.001 0.001"/> <box size="0.001 0.001 0.001"/>
</geometry> </geometry>
<!-- <material name="red"/> --> <!-- <material name="red"/> -->
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size=".001 .001 .001"/> <box size=".001 .001 .001"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<!-- <!--
<joint name="load_joint" type="fixed"> <joint name="load_joint" type="fixed">
<parent link="trunk"/> <parent link="trunk"/>
<child link="load_link"/> <child link="load_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
</joint> </joint>
<link name="load_link"> <link name="load_link">
<inertial> <inertial>
<mass value="5"/> <mass value="5"/>
<origin rpy="0 0 0" xyz="0 0 0"/> <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"/> <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0.2"/> <origin rpy="0 0 0" xyz="0 0 0.2"/>
<geometry> <geometry>
<box size="0.5 0.3 0.2"/> <box size="0.5 0.3 0.2"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size=".001 .001 .001"/> <box size=".001 .001 .001"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
--> -->
<xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1" front_hind_dae="True" /> <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="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" /> <xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False"/>
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False" /> <xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False"/>
</robot> </robot>

286
descriptions/unitree/go2_description/xacro/ros2_control.xacro
View File

@ -1,176 +1,176 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<ros2_control name="UnitreeSystem" type="system"> <ros2_control name="UnitreeSystem" type="system">
<hardware> <hardware>
<plugin>hardware_unitree_mujoco/HardwareUnitree</plugin> <plugin>hardware_unitree_mujoco/HardwareUnitree</plugin>
</hardware> </hardware>
<joint name="FR_hip_joint"> <joint name="FR_hip_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FR_thigh_joint"> <joint name="FR_thigh_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FR_calf_joint"> <joint name="FR_calf_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FL_hip_joint"> <joint name="FL_hip_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FL_thigh_joint"> <joint name="FL_thigh_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FL_calf_joint"> <joint name="FL_calf_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RR_hip_joint"> <joint name="RR_hip_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RR_thigh_joint"> <joint name="RR_thigh_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RR_calf_joint"> <joint name="RR_calf_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RL_hip_joint"> <joint name="RL_hip_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RL_thigh_joint"> <joint name="RL_thigh_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RL_calf_joint"> <joint name="RL_calf_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<sensor name="imu_sensor"> <sensor name="imu_sensor">
<state_interface name="orientation.w"/> <state_interface name="orientation.w"/>
<state_interface name="orientation.x"/> <state_interface name="orientation.x"/>
<state_interface name="orientation.y"/> <state_interface name="orientation.y"/>
<state_interface name="orientation.z"/> <state_interface name="orientation.z"/>
<state_interface name="angular_velocity.x"/> <state_interface name="angular_velocity.x"/>
<state_interface name="angular_velocity.y"/> <state_interface name="angular_velocity.y"/>
<state_interface name="angular_velocity.z"/> <state_interface name="angular_velocity.z"/>
<state_interface name="linear_acceleration.x"/> <state_interface name="linear_acceleration.x"/>
<state_interface name="linear_acceleration.y"/> <state_interface name="linear_acceleration.y"/>
<state_interface name="linear_acceleration.z"/> <state_interface name="linear_acceleration.z"/>
</sensor> </sensor>
<sensor name="foot_force"> <sensor name="foot_force">
<state_interface name="FR"/> <state_interface name="FR"/>
<state_interface name="FL"/> <state_interface name="FL"/>
<state_interface name="RR"/> <state_interface name="RR"/>
<state_interface name="RL"/> <state_interface name="RL"/>
</sensor> </sensor>
</ros2_control> </ros2_control>
</robot> </robot>

64
descriptions/unitree/go2_description/xacro/transmission.xacro
View File

@ -2,41 +2,41 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="leg_transmission" params="name"> <xacro:macro name="leg_transmission" params="name">
<transmission name="${name}_hip_tran"> <transmission name="${name}_hip_tran">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_hip_joint"> <joint name="${name}_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="${name}_hip_motor"> <actuator name="${name}_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
<transmission name="${name}_thigh_tran"> <transmission name="${name}_thigh_tran">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_thigh_joint"> <joint name="${name}_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="${name}_thigh_motor"> <actuator name="${name}_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
<transmission name="${name}_calf_tran"> <transmission name="${name}_calf_tran">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_calf_joint"> <joint name="${name}_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="${name}_calf_motor"> <actuator name="${name}_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
</xacro:macro> </xacro:macro>
</robot> </robot>

10
descriptions/xiaomi/cyberdog_description/README.md
View File

@ -36,7 +36,15 @@ ros2 launch cyberdog_description visualize.launch.py
ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=cyberdog_description ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=cyberdog_description
``` ```
### Gazebo Simulator ### Gazebo Classic 11 (ROS2 Humble)
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo_classic.launch.py pkg_description:=cyberdog_description height:=0.31
```
### Gazebo Harmonic (ROS2 Jazzy)
* Unitree Guide Controller * Unitree Guide Controller
```bash ```bash

4
descriptions/xiaomi/cyberdog_description/config/gazebo.yaml
View File

@ -1,7 +1,7 @@
# Controller Manager configuration # Controller Manager configuration
controller_manager: controller_manager:
ros__parameters: ros__parameters:
update_rate: 2000 # Hz update_rate: 1000 # Hz
# Define the available controllers # Define the available controllers
joint_state_broadcaster: joint_state_broadcaster:
@ -23,6 +23,7 @@ imu_sensor_broadcaster:
leg_pd_controller: leg_pd_controller:
ros__parameters: ros__parameters:
update_rate: 1000 # Hz
joints: joints:
- FR_hip_joint - FR_hip_joint
- FR_thigh_joint - FR_thigh_joint
@ -48,6 +49,7 @@ unitree_guide_controller:
ros__parameters: ros__parameters:
command_prefix: "leg_pd_controller" command_prefix: "leg_pd_controller"
update_rate: 500 # Hz update_rate: 500 # Hz
stand_kd: 1.0
joints: joints:
- FR_hip_joint - FR_hip_joint
- FR_thigh_joint - FR_thigh_joint

6
descriptions/xiaomi/cyberdog_description/xacro/const.xacro
View File

@ -55,9 +55,9 @@
<xacro:property name="abad_motorVelMax" value="30.9971"/> <xacro:property name="abad_motorVelMax" value="30.9971"/>
<xacro:property name="hip_motorVelMax" value="30.9971"/> <xacro:property name="hip_motorVelMax" value="30.9971"/>
<xacro:property name="knee_motorVelMax" value="30.9971"/> <xacro:property name="knee_motorVelMax" value="30.9971"/>
<xacro:property name="abad_damping" value="0.01"/> <xacro:property name="abad_damping" value="0.1"/>
<xacro:property name="hip_damping" value="0.01"/> <xacro:property name="hip_damping" value="0.1"/>
<xacro:property name="knee_damping" value="0.01"/> <xacro:property name="knee_damping" value="0.1"/>
<xacro:property name="abad_friction" value="0.1"/> <xacro:property name="abad_friction" value="0.1"/>
<xacro:property name="hip_friction" value="0.1"/> <xacro:property name="hip_friction" value="0.1"/>
<xacro:property name="knee_friction" value="0.1"/> <xacro:property name="knee_friction" value="0.1"/>

238
descriptions/xiaomi/cyberdog_description/xacro/gazebo_classic.xacro Normal file
View File

@ -0,0 +1,238 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
<joint name="FR_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FR_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FR_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<sensor name="imu_sensor">
<state_interface name="orientation.x"/>
<state_interface name="orientation.y"/>
<state_interface name="orientation.z"/>
<state_interface name="orientation.w"/>
<state_interface name="angular_velocity.x"/>
<state_interface name="angular_velocity.y"/>
<state_interface name="angular_velocity.z"/>
<state_interface name="linear_acceleration.x"/>
<state_interface name="linear_acceleration.y"/>
<state_interface name="linear_acceleration.z"/>
</sensor>
</ros2_control>
<gazebo>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
<parameters>$(find cyberdog_description)/config/gazebo.yaml</parameters>
</plugin>
</gazebo>
<gazebo reference="trunk">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>1000</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>trunk_imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>1000.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- FL leg -->
<gazebo reference="FL_abad">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<gazebo reference="FL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_knee">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- FR leg -->
<gazebo reference="FR_abad">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<gazebo reference="FR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_knee">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RL leg -->
<gazebo reference="RL_abad">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<gazebo reference="RL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RL_knee">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RR leg -->
<gazebo reference="RR_abad">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<gazebo reference="RR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RR_knee">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
</robot>

392
descriptions/xiaomi/cyberdog_description/xacro/robot.xacro
View File

@ -1,220 +1,226 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<robot name="cyber_dog" xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot name="cyber_dog" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="ROBOT" default="cyber_dog"/> <xacro:arg name="ROBOT" default="cyber_dog"/>
<xacro:arg name="USE_LIDAR" default="false"/> <xacro:arg name="USE_LIDAR" default="false"/>
<xacro:arg name="GAZEBO" default="false"/> <xacro:arg name="GAZEBO" default="false"/>
<xacro:arg name="CLASSIC" default="false"/>
<xacro:include filename="const.xacro"/> <xacro:include filename="const.xacro"/>
<xacro:include filename="leg.xacro"/> <xacro:include filename="leg.xacro"/>
<xacro:if value="$(arg GAZEBO)"> <xacro:if value="$(arg GAZEBO)">
<xacro:include filename="gazebo.xacro"/> <xacro:if value="$(arg CLASSIC)">
</xacro:if> <xacro:include filename="gazebo_classic.xacro"/>
<xacro:unless value="$(arg GAZEBO)"> </xacro:if>
<xacro:include filename="ros2_control.xacro"/> <xacro:unless value="$(arg CLASSIC)">
</xacro:unless> <xacro:include filename="gazebo.xacro"/>
</xacro:unless>
</xacro:if>
<xacro:unless value="$(arg GAZEBO)">
<xacro:include filename="ros2_control.xacro"/>
</xacro:unless>
<link name="base"> <link name="base">
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size="0.001 0.001 0.001"/> <box size="0.001 0.001 0.001"/>
</geometry> </geometry>
</visual> </visual>
</link> </link>
<joint name="floating_base" type="fixed"> <joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/> <parent link="base"/>
<child link="body"/> <child link="body"/>
</joint> </joint>
<link name="body"> <link name="body">
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="file://$(find cyberdog_description)/meshes/body.dae" scale="1 1 1"/> <mesh filename="file://$(find cyberdog_description)/meshes/body.dae" scale="1 1 1"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size="${body_length} ${body_width} ${body_height}"/> <box size="${body_length} ${body_width} ${body_height}"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<origin rpy="0 0 0" xyz="${body_com_x} ${body_com_y} ${body_com_z}"/> <origin rpy="0 0 0" xyz="${body_com_x} ${body_com_y} ${body_com_z}"/>
<mass value="${body_mass}"/> <mass value="${body_mass}"/>
<inertia ixx="${body_ixx}" ixy="${body_ixy}" ixz="${body_ixz}" iyy="${body_iyy}" iyz="${body_iyz}" <inertia ixx="${body_ixx}" ixy="${body_ixy}" ixz="${body_ixz}" iyy="${body_iyy}" iyz="${body_iyz}"
izz="${body_izz}"/> izz="${body_izz}"/>
</inertial> </inertial>
</link> </link>
<joint name="imu_joint" type="fixed"> <joint name="imu_joint" type="fixed">
<parent link="body"/> <parent link="body"/>
<child link="imu_link"/> <child link="imu_link"/>
<origin rpy="0 0 0" xyz="33.4e-3 -17.2765e-3 51.0469e-3"/> <origin rpy="0 0 0" xyz="33.4e-3 -17.2765e-3 51.0469e-3"/>
</joint> </joint>
<link name="imu_link"> <link name="imu_link">
<inertial> <inertial>
<mass value="0.001"/> <mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/> <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size="0.001 0.001 0.001"/> <box size="0.001 0.001 0.001"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size=".001 .001 .001"/> <box size=".001 .001 .001"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="scan_joint" type="fixed"> <joint name="scan_joint" type="fixed">
<parent link="body"/> <parent link="body"/>
<child link="lidar_link"/> <child link="lidar_link"/>
<origin rpy="0 0 0" xyz="0.21425 0 0.0908"/> <origin rpy="0 0 0" xyz="0.21425 0 0.0908"/>
</joint> </joint>
<link name="lidar_link"> <link name="lidar_link">
<inertial> <inertial>
<mass value="0.001"/> <mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/> <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial> </inertial>
</link> </link>
<joint name="D435_camera_joint" type="fixed"> <joint name="D435_camera_joint" type="fixed">
<parent link="body"/> <parent link="body"/>
<child link="D435_camera_link"/> <child link="D435_camera_link"/>
<origin rpy="0 0 0" xyz="271.994e-3 25e-3 114.912e-3"/> <origin rpy="0 0 0" xyz="271.994e-3 25e-3 114.912e-3"/>
</joint> </joint>
<link name="D435_camera_link"> <link name="D435_camera_link">
<inertial> <inertial>
<mass value="0.001"/> <mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/> <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size="0.001 0.001 0.001"/> <box size="0.001 0.001 0.001"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size=".001 .001 .001"/> <box size=".001 .001 .001"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="RGB_camera_joint" type="fixed"> <joint name="RGB_camera_joint" type="fixed">
<parent link="body"/> <parent link="body"/>
<child link="RGB_camera_link"/> <child link="RGB_camera_link"/>
<origin rpy="0 0 0" xyz="275.76e-3 0 125.794e-3"/> <origin rpy="0 0 0" xyz="275.76e-3 0 125.794e-3"/>
</joint> </joint>
<link name="RGB_camera_link"> <link name="RGB_camera_link">
<inertial> <inertial>
<mass value="0.001"/> <mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/> <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size="0.001 0.001 0.001"/> <box size="0.001 0.001 0.001"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size=".001 .001 .001"/> <box size=".001 .001 .001"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="AI_camera_joint" type="fixed"> <joint name="AI_camera_joint" type="fixed">
<parent link="body"/> <parent link="body"/>
<child link="AI_camera_link"/> <child link="AI_camera_link"/>
<origin rpy="0 0 0" xyz="290.228e-3 0 147.420e-3"/> <origin rpy="0 0 0" xyz="290.228e-3 0 147.420e-3"/>
</joint> </joint>
<link name="AI_camera_link"> <link name="AI_camera_link">
<inertial> <inertial>
<mass value="0.001"/> <mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/> <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size="0.001 0.001 0.001"/> <box size="0.001 0.001 0.001"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size=".001 .001 .001"/> <box size=".001 .001 .001"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<xacro:leg name="FR" mirror="-1" mirror_dae="False" front_hind="1" front_hind_dae="True"> <xacro:leg name="FR" mirror="-1" mirror_dae="False" front_hind="1" front_hind_dae="True">
<origin rpy="0 0 0" xyz="${abad_offset_x} ${-abad_offset_y} 0"/> <origin rpy="0 0 0" xyz="${abad_offset_x} ${-abad_offset_y} 0"/>
</xacro:leg> </xacro:leg>
<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True"> <xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True">
<origin rpy="0 0 0" xyz="${abad_offset_x} ${abad_offset_y} 0"/> <origin rpy="0 0 0" xyz="${abad_offset_x} ${abad_offset_y} 0"/>
</xacro:leg> </xacro:leg>
<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False"> <xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False">
<origin rpy="0 0 0" xyz="${-abad_offset_x} ${-abad_offset_y} 0"/> <origin rpy="0 0 0" xyz="${-abad_offset_x} ${-abad_offset_y} 0"/>
</xacro:leg> </xacro:leg>
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False"> <xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False">
<origin rpy="0 0 0" xyz="${-abad_offset_x} ${abad_offset_y} 0"/> <origin rpy="0 0 0" xyz="${-abad_offset_x} ${abad_offset_y} 0"/>
</xacro:leg> </xacro:leg>
<!-- This link is only for head collision --> <!-- This link is only for head collision -->
<joint name="head_joint" type="fixed"> <joint name="head_joint" type="fixed">
<parent link="body"/> <parent link="body"/>
<child link="head"/> <child link="head"/>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
</joint> </joint>
<link name="head"> <link name="head">
<collision> <collision>
<origin rpy="0 0 0" xyz="0.256 0 0.120"/> <origin rpy="0 0 0" xyz="0.256 0 0.120"/>
<geometry> <geometry>
<box size="0.076 0.060 0.040"/> <box size="0.076 0.060 0.040"/>
</geometry> </geometry>
</collision> </collision>
<collision> <collision>
<origin rpy="0 0 0" xyz="0.225 0 0.150"/> <origin rpy="0 0 0" xyz="0.225 0 0.150"/>
<geometry> <geometry>
<box size="0.020 0.080 0.100"/> <box size="0.020 0.080 0.100"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<gazebo reference="body"> <gazebo reference="body">
<visual> <visual>
<material> <material>
<ambient>.1 .1 .1 1.0</ambient> <ambient>.1 .1 .1 1.0</ambient>
<diffuse>.1 .1 .1 1.0</diffuse> <diffuse>.1 .1 .1 1.0</diffuse>
<specular>.1 .1 .1 1.0</specular> <specular>.1 .1 .1 1.0</specular>
</material> </material>
</visual> </visual>
</gazebo> </gazebo>
</robot> </robot>