go1 description and keyboard input
This commit is contained in:
Huang Zhenbiao
parent
0cc499210a
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cmake_minimum_required(VERSION 3.8)
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project(control_input_msgs)
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find_package(rosidl_default_generators REQUIRED)
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rosidl_generate_interfaces(${PROJECT_NAME}
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"msg/Inputs.msg"
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)
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ament_package()
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Apache License
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||||||
|
Version 2.0, January 2004
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||||||
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http://www.apache.org/licenses/
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|
|
||||||
|
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
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|
1. Definitions.
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"License" shall mean the terms and conditions for use, reproduction,
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and distribution as defined by Sections 1 through 9 of this document.
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"Licensor" shall mean the copyright owner or entity authorized by
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the copyright owner that is granting the License.
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"Legal Entity" shall mean the union of the acting entity and all
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other entities that control, are controlled by, or are under common
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control with that entity. For the purposes of this definition,
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"control" means (i) the power, direct or indirect, to cause the
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direction or management of such entity, whether by contract or
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otherwise, or (ii) ownership of fifty percent (50%) or more of the
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outstanding shares, or (iii) beneficial ownership of such entity.
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"You" (or "Your") shall mean an individual or Legal Entity
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exercising permissions granted by this License.
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"Source" form shall mean the preferred form for making modifications,
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including but not limited to software source code, documentation
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source, and configuration files.
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"Object" form shall mean any form resulting from mechanical
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"Work" shall mean the work of authorship, whether in Source or
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this License, each Contributor hereby grants to You a perpetual,
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use, offer to sell, sell, import, and otherwise transfer the Work,
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where such license applies only to those patent claims licensable
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with the Work to which such Contribution(s) was submitted. If You
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or a Contribution incorporated within the Work constitutes direct
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You may add Your own copyright statement to Your modifications and
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5. Submission of Contributions. Unless You explicitly state otherwise,
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Notwithstanding the above, nothing herein shall supersede or modify
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9. Accepting Warranty or Additional Liability. While redistributing
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defend, and hold each Contributor harmless for any liability
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END OF TERMS AND CONDITIONS
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APPENDIX: How to apply the Apache License to your work.
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To apply the Apache License to your work, attach the following
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Copyright [yyyy] [name of copyright owner]
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
|
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limitations under the License.
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|
|
@ -0,0 +1,8 @@
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# control input message
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int32 command
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float32 lx
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float32 ly
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float32 rx
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float32 ry
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@ -0,0 +1,17 @@
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>control_input_msgs</name>
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<version>0.0.0</version>
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<description>TODO: Package description</description>
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||||||
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<maintainer email="biao876990970@hotmail.com">biao</maintainer>
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||||||
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<license>Apache-2.0</license>
|
||||||
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|
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<buildtool_depend>rosidl_default_generators</buildtool_depend>
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||||||
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<exec_depend>rosidl_default_runtime</exec_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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@ -0,0 +1,30 @@
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cmake_minimum_required(VERSION 3.8)
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project(keyboard_input)
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|
if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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|
endif ()
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(control_input_msgs REQUIRED)
|
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|
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add_executable(keyboard_input src/KeyboardInput.cpp)
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target_include_directories(keyboard_input
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PUBLIC
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"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
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"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
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ament_target_dependencies(
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keyboard_input PUBLIC
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rclcpp
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control_input_msgs
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)
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install(TARGETS
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keyboard_input
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DESTINATION lib/${PROJECT_NAME})
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|
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|
ament_package()
|
||||||
|
|
@ -0,0 +1,202 @@
|
||||||
|
|
||||||
|
Apache License
|
||||||
|
Version 2.0, January 2004
|
||||||
|
http://www.apache.org/licenses/
|
||||||
|
|
||||||
|
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
|
||||||
|
|
||||||
|
1. Definitions.
|
||||||
|
|
||||||
|
"License" shall mean the terms and conditions for use, reproduction,
|
||||||
|
and distribution as defined by Sections 1 through 9 of this document.
|
||||||
|
|
||||||
|
"Licensor" shall mean the copyright owner or entity authorized by
|
||||||
|
the copyright owner that is granting the License.
|
||||||
|
|
||||||
|
"Legal Entity" shall mean the union of the acting entity and all
|
||||||
|
other entities that control, are controlled by, or are under common
|
||||||
|
control with that entity. For the purposes of this definition,
|
||||||
|
"control" means (i) the power, direct or indirect, to cause the
|
||||||
|
direction or management of such entity, whether by contract or
|
||||||
|
otherwise, or (ii) ownership of fifty percent (50%) or more of the
|
||||||
|
outstanding shares, or (iii) beneficial ownership of such entity.
|
||||||
|
|
||||||
|
"You" (or "Your") shall mean an individual or Legal Entity
|
||||||
|
exercising permissions granted by this License.
|
||||||
|
|
||||||
|
"Source" form shall mean the preferred form for making modifications,
|
||||||
|
including but not limited to software source code, documentation
|
||||||
|
source, and configuration files.
|
||||||
|
|
||||||
|
"Object" form shall mean any form resulting from mechanical
|
||||||
|
transformation or translation of a Source form, including but
|
||||||
|
not limited to compiled object code, generated documentation,
|
||||||
|
and conversions to other media types.
|
||||||
|
|
||||||
|
"Work" shall mean the work of authorship, whether in Source or
|
||||||
|
Object form, made available under the License, as indicated by a
|
||||||
|
copyright notice that is included in or attached to the work
|
||||||
|
(an example is provided in the Appendix below).
|
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|
|
||||||
|
"Derivative Works" shall mean any work, whether in Source or Object
|
||||||
|
form, that is based on (or derived from) the Work and for which the
|
||||||
|
editorial revisions, annotations, elaborations, or other modifications
|
||||||
|
represent, as a whole, an original work of authorship. For the purposes
|
||||||
|
of this License, Derivative Works shall not include works that remain
|
||||||
|
separable from, or merely link (or bind by name) to the interfaces of,
|
||||||
|
the Work and Derivative Works thereof.
|
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|
|
||||||
|
"Contribution" shall mean any work of authorship, including
|
||||||
|
the original version of the Work and any modifications or additions
|
||||||
|
to that Work or Derivative Works thereof, that is intentionally
|
||||||
|
submitted to Licensor for inclusion in the Work by the copyright owner
|
||||||
|
or by an individual or Legal Entity authorized to submit on behalf of
|
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|
the copyright owner. For the purposes of this definition, "submitted"
|
||||||
|
means any form of electronic, verbal, or written communication sent
|
||||||
|
to the Licensor or its representatives, including but not limited to
|
||||||
|
communication on electronic mailing lists, source code control systems,
|
||||||
|
and issue tracking systems that are managed by, or on behalf of, the
|
||||||
|
Licensor for the purpose of discussing and improving the Work, but
|
||||||
|
excluding communication that is conspicuously marked or otherwise
|
||||||
|
designated in writing by the copyright owner as "Not a Contribution."
|
||||||
|
|
||||||
|
"Contributor" shall mean Licensor and any individual or Legal Entity
|
||||||
|
on behalf of whom a Contribution has been received by Licensor and
|
||||||
|
subsequently incorporated within the Work.
|
||||||
|
|
||||||
|
2. Grant of Copyright License. Subject to the terms and conditions of
|
||||||
|
this License, each Contributor hereby grants to You a perpetual,
|
||||||
|
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
|
||||||
|
copyright license to reproduce, prepare Derivative Works of,
|
||||||
|
publicly display, publicly perform, sublicense, and distribute the
|
||||||
|
Work and such Derivative Works in Source or Object form.
|
||||||
|
|
||||||
|
3. Grant of Patent License. Subject to the terms and conditions of
|
||||||
|
this License, each Contributor hereby grants to You a perpetual,
|
||||||
|
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
|
||||||
|
(except as stated in this section) patent license to make, have made,
|
||||||
|
use, offer to sell, sell, import, and otherwise transfer the Work,
|
||||||
|
where such license applies only to those patent claims licensable
|
||||||
|
by such Contributor that are necessarily infringed by their
|
||||||
|
Contribution(s) alone or by combination of their Contribution(s)
|
||||||
|
with the Work to which such Contribution(s) was submitted. If You
|
||||||
|
institute patent litigation against any entity (including a
|
||||||
|
cross-claim or counterclaim in a lawsuit) alleging that the Work
|
||||||
|
or a Contribution incorporated within the Work constitutes direct
|
||||||
|
or contributory patent infringement, then any patent licenses
|
||||||
|
granted to You under this License for that Work shall terminate
|
||||||
|
as of the date such litigation is filed.
|
||||||
|
|
||||||
|
4. Redistribution. You may reproduce and distribute copies of the
|
||||||
|
Work or Derivative Works thereof in any medium, with or without
|
||||||
|
modifications, and in Source or Object form, provided that You
|
||||||
|
meet the following conditions:
|
||||||
|
|
||||||
|
(a) You must give any other recipients of the Work or
|
||||||
|
Derivative Works a copy of this License; and
|
||||||
|
|
||||||
|
(b) You must cause any modified files to carry prominent notices
|
||||||
|
stating that You changed the files; and
|
||||||
|
|
||||||
|
(c) You must retain, in the Source form of any Derivative Works
|
||||||
|
that You distribute, all copyright, patent, trademark, and
|
||||||
|
attribution notices from the Source form of the Work,
|
||||||
|
excluding those notices that do not pertain to any part of
|
||||||
|
the Derivative Works; and
|
||||||
|
|
||||||
|
(d) If the Work includes a "NOTICE" text file as part of its
|
||||||
|
distribution, then any Derivative Works that You distribute must
|
||||||
|
include a readable copy of the attribution notices contained
|
||||||
|
within such NOTICE file, excluding those notices that do not
|
||||||
|
pertain to any part of the Derivative Works, in at least one
|
||||||
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of the following places: within a NOTICE text file distributed
|
||||||
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as part of the Derivative Works; within the Source form or
|
||||||
|
documentation, if provided along with the Derivative Works; or,
|
||||||
|
within a display generated by the Derivative Works, if and
|
||||||
|
wherever such third-party notices normally appear. The contents
|
||||||
|
of the NOTICE file are for informational purposes only and
|
||||||
|
do not modify the License. You may add Your own attribution
|
||||||
|
notices within Derivative Works that You distribute, alongside
|
||||||
|
or as an addendum to the NOTICE text from the Work, provided
|
||||||
|
that such additional attribution notices cannot be construed
|
||||||
|
as modifying the License.
|
||||||
|
|
||||||
|
You may add Your own copyright statement to Your modifications and
|
||||||
|
may provide additional or different license terms and conditions
|
||||||
|
for use, reproduction, or distribution of Your modifications, or
|
||||||
|
for any such Derivative Works as a whole, provided Your use,
|
||||||
|
reproduction, and distribution of the Work otherwise complies with
|
||||||
|
the conditions stated in this License.
|
||||||
|
|
||||||
|
5. Submission of Contributions. Unless You explicitly state otherwise,
|
||||||
|
any Contribution intentionally submitted for inclusion in the Work
|
||||||
|
by You to the Licensor shall be under the terms and conditions of
|
||||||
|
this License, without any additional terms or conditions.
|
||||||
|
Notwithstanding the above, nothing herein shall supersede or modify
|
||||||
|
the terms of any separate license agreement you may have executed
|
||||||
|
with Licensor regarding such Contributions.
|
||||||
|
|
||||||
|
6. Trademarks. This License does not grant permission to use the trade
|
||||||
|
names, trademarks, service marks, or product names of the Licensor,
|
||||||
|
except as required for reasonable and customary use in describing the
|
||||||
|
origin of the Work and reproducing the content of the NOTICE file.
|
||||||
|
|
||||||
|
7. Disclaimer of Warranty. Unless required by applicable law or
|
||||||
|
agreed to in writing, Licensor provides the Work (and each
|
||||||
|
Contributor provides its Contributions) on an "AS IS" BASIS,
|
||||||
|
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
|
||||||
|
implied, including, without limitation, any warranties or conditions
|
||||||
|
of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
|
||||||
|
PARTICULAR PURPOSE. You are solely responsible for determining the
|
||||||
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appropriateness of using or redistributing the Work and assume any
|
||||||
|
risks associated with Your exercise of permissions under this License.
|
||||||
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|
||||||
|
8. Limitation of Liability. In no event and under no legal theory,
|
||||||
|
whether in tort (including negligence), contract, or otherwise,
|
||||||
|
unless required by applicable law (such as deliberate and grossly
|
||||||
|
negligent acts) or agreed to in writing, shall any Contributor be
|
||||||
|
liable to You for damages, including any direct, indirect, special,
|
||||||
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incidental, or consequential damages of any character arising as a
|
||||||
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result of this License or out of the use or inability to use the
|
||||||
|
Work (including but not limited to damages for loss of goodwill,
|
||||||
|
work stoppage, computer failure or malfunction, or any and all
|
||||||
|
other commercial damages or losses), even if such Contributor
|
||||||
|
has been advised of the possibility of such damages.
|
||||||
|
|
||||||
|
9. Accepting Warranty or Additional Liability. While redistributing
|
||||||
|
the Work or Derivative Works thereof, You may choose to offer,
|
||||||
|
and charge a fee for, acceptance of support, warranty, indemnity,
|
||||||
|
or other liability obligations and/or rights consistent with this
|
||||||
|
License. However, in accepting such obligations, You may act only
|
||||||
|
on Your own behalf and on Your sole responsibility, not on behalf
|
||||||
|
of any other Contributor, and only if You agree to indemnify,
|
||||||
|
defend, and hold each Contributor harmless for any liability
|
||||||
|
incurred by, or claims asserted against, such Contributor by reason
|
||||||
|
of your accepting any such warranty or additional liability.
|
||||||
|
|
||||||
|
END OF TERMS AND CONDITIONS
|
||||||
|
|
||||||
|
APPENDIX: How to apply the Apache License to your work.
|
||||||
|
|
||||||
|
To apply the Apache License to your work, attach the following
|
||||||
|
boilerplate notice, with the fields enclosed by brackets "[]"
|
||||||
|
replaced with your own identifying information. (Don't include
|
||||||
|
the brackets!) The text should be enclosed in the appropriate
|
||||||
|
comment syntax for the file format. We also recommend that a
|
||||||
|
file or class name and description of purpose be included on the
|
||||||
|
same "printed page" as the copyright notice for easier
|
||||||
|
identification within third-party archives.
|
||||||
|
|
||||||
|
Copyright [yyyy] [name of copyright owner]
|
||||||
|
|
||||||
|
Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
you may not use this file except in compliance with the License.
|
||||||
|
You may obtain a copy of the License at
|
||||||
|
|
||||||
|
http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
|
||||||
|
Unless required by applicable law or agreed to in writing, software
|
||||||
|
distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
See the License for the specific language governing permissions and
|
||||||
|
limitations under the License.
|
||||||
|
|
@ -0,0 +1,50 @@
|
||||||
|
//
|
||||||
|
// Created by biao on 24-9-11.
|
||||||
|
//
|
||||||
|
|
||||||
|
|
||||||
|
#ifndef KEYBOARDINPUT_H
|
||||||
|
#define KEYBOARDINPUT_H
|
||||||
|
#include <rclcpp/rclcpp.hpp>
|
||||||
|
#include <control_input_msgs/msg/inputs.hpp>
|
||||||
|
#include <termios.h>
|
||||||
|
|
||||||
|
|
||||||
|
template <typename T1, typename T2>
|
||||||
|
T1 max(const T1 a, const T2 b) {
|
||||||
|
return (a > b ? a : b);
|
||||||
|
}
|
||||||
|
|
||||||
|
template <typename T1, typename T2>
|
||||||
|
T1 min(const T1 a, const T2 b) {
|
||||||
|
return (a < b ? a : b);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
class Keyboardinput final : public rclcpp::Node {
|
||||||
|
public:
|
||||||
|
Keyboardinput();
|
||||||
|
|
||||||
|
~Keyboardinput() override {
|
||||||
|
tcsetattr(STDIN_FILENO, TCSANOW, &old_tio_);
|
||||||
|
}
|
||||||
|
|
||||||
|
private:
|
||||||
|
void timer_callback();
|
||||||
|
|
||||||
|
void check_command(char key);
|
||||||
|
void check_value(char key);
|
||||||
|
|
||||||
|
static bool kbhit();
|
||||||
|
|
||||||
|
control_input_msgs::msg::Inputs inputs_;
|
||||||
|
rclcpp::Publisher<control_input_msgs::msg::Inputs>::SharedPtr publisher_;
|
||||||
|
rclcpp::TimerBase::SharedPtr timer_;
|
||||||
|
|
||||||
|
float sensitivity_left_ = 0.05;
|
||||||
|
float sensitivity_right_ = 0.05;
|
||||||
|
termios old_tio_{}, new_tio_{};
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
#endif //KEYBOARDINPUT_H
|
||||||
|
|
@ -0,0 +1,18 @@
|
||||||
|
<?xml version="1.0"?>
|
||||||
|
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||||
|
<package format="3">
|
||||||
|
<name>keyboard_input</name>
|
||||||
|
<version>0.0.0</version>
|
||||||
|
<description>TODO: Package description</description>
|
||||||
|
<maintainer email="biao876990970@hotmail.com">biao</maintainer>
|
||||||
|
<license>Apache-2.0</license>
|
||||||
|
|
||||||
|
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||||
|
|
||||||
|
<depend>rclcpp</depend>
|
||||||
|
<depend>control_input_msgs</depend>
|
||||||
|
|
||||||
|
<export>
|
||||||
|
<build_type>ament_cmake</build_type>
|
||||||
|
</export>
|
||||||
|
</package>
|
||||||
|
|
@ -0,0 +1,15 @@
|
||||||
|
# Keyboard Input
|
||||||
|
|
||||||
|
This node will read the keyboard input and publish a control_input_msgs/Input message.
|
||||||
|
|
||||||
|
## 1. Running Instructions
|
||||||
|
### 1.1 Control Mode
|
||||||
|
* Passive Mode: Keyboard 1
|
||||||
|
* Fixed Stand: Keyboard 2
|
||||||
|
* Free Stand: Keyboard 3
|
||||||
|
* Trot: Keyboard 4
|
||||||
|
* SwingTest: Keyboard 9
|
||||||
|
* Balance: Keyboard 0
|
||||||
|
### 1.2 Control Input
|
||||||
|
* WASD IJKL: Move robot
|
||||||
|
* Space: Reset Speed Input
|
||||||
|
|
@ -0,0 +1,120 @@
|
||||||
|
//
|
||||||
|
// Created by biao on 24-9-11.
|
||||||
|
//
|
||||||
|
|
||||||
|
#include <keyboard_input/KeyboardInput.h>
|
||||||
|
|
||||||
|
Keyboardinput::Keyboardinput() : Node("keyboard_input_node") {
|
||||||
|
publisher_ = create_publisher<control_input_msgs::msg::Inputs>("control_input", 10);
|
||||||
|
timer_ = create_wall_timer(std::chrono::microseconds(100), std::bind(&Keyboardinput::timer_callback, this));
|
||||||
|
inputs_ = control_input_msgs::msg::Inputs();
|
||||||
|
|
||||||
|
tcgetattr(STDIN_FILENO, &old_tio_);
|
||||||
|
new_tio_ = old_tio_;
|
||||||
|
new_tio_.c_lflag &= (~ICANON & ~ECHO);
|
||||||
|
tcsetattr(STDIN_FILENO, TCSANOW, &new_tio_);
|
||||||
|
RCLCPP_INFO(get_logger(), "Node initialized. Please input keys, press Ctrl+C to quit.");
|
||||||
|
}
|
||||||
|
|
||||||
|
void Keyboardinput::timer_callback() {
|
||||||
|
if (kbhit()) {
|
||||||
|
char key = getchar();
|
||||||
|
check_command(key);
|
||||||
|
if (inputs_.command == -1) check_value(key);
|
||||||
|
publisher_->publish(inputs_);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void Keyboardinput::check_command(const char key) {
|
||||||
|
switch (key) {
|
||||||
|
case '1':
|
||||||
|
inputs_.command = 1; // L2_B
|
||||||
|
break;
|
||||||
|
case '2':
|
||||||
|
inputs_.command = 2; // L2_A
|
||||||
|
break;
|
||||||
|
case '3':
|
||||||
|
inputs_.command = 3; // L2_X
|
||||||
|
break;
|
||||||
|
case '4':
|
||||||
|
inputs_.command = 4; // START
|
||||||
|
break;
|
||||||
|
case '0':
|
||||||
|
inputs_.command = 0; // L1_X
|
||||||
|
break;
|
||||||
|
case '9':
|
||||||
|
inputs_.command = 9; // L1_A
|
||||||
|
break;
|
||||||
|
case '8':
|
||||||
|
inputs_.command = 3; // L1_Y
|
||||||
|
break;
|
||||||
|
case ' ':
|
||||||
|
inputs_.lx = 0;
|
||||||
|
inputs_.ly = 0;
|
||||||
|
inputs_.rx = 0;
|
||||||
|
inputs_.ry = 0;
|
||||||
|
inputs_.command = -1;
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
inputs_.command = -1;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void Keyboardinput::check_value(char key) {
|
||||||
|
switch (key) {
|
||||||
|
case 'w':
|
||||||
|
case 'W':
|
||||||
|
inputs_.ly = min<float>(inputs_.ly + sensitivity_left_, 1.0);
|
||||||
|
break;
|
||||||
|
case 's':
|
||||||
|
case 'S':
|
||||||
|
inputs_.ly = max<float>(inputs_.ly - sensitivity_left_, -1.0);
|
||||||
|
break;
|
||||||
|
case 'd':
|
||||||
|
case 'D':
|
||||||
|
inputs_.lx = min<float>(inputs_.lx + sensitivity_left_, 1.0);
|
||||||
|
break;
|
||||||
|
case 'a':
|
||||||
|
case 'A':
|
||||||
|
inputs_.lx = max<float>(inputs_.lx - sensitivity_left_, -1.0);
|
||||||
|
break;
|
||||||
|
|
||||||
|
case 'i':
|
||||||
|
case 'I':
|
||||||
|
inputs_.ry = min<float>(inputs_.ry + sensitivity_right_, 1.0);
|
||||||
|
break;
|
||||||
|
case 'k':
|
||||||
|
case 'K':
|
||||||
|
inputs_.ry = max<float>(inputs_.ry - sensitivity_right_, -1.0);
|
||||||
|
break;
|
||||||
|
case 'l':
|
||||||
|
case 'L':
|
||||||
|
inputs_.rx = min<float>(inputs_.rx + sensitivity_right_, 1.0);
|
||||||
|
break;
|
||||||
|
case 'j':
|
||||||
|
case 'J':
|
||||||
|
inputs_.rx = max<float>(inputs_.rx - sensitivity_right_, -1.0);
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
bool Keyboardinput::kbhit() {
|
||||||
|
timeval tv = {0L, 0L};
|
||||||
|
fd_set fds;
|
||||||
|
FD_ZERO(&fds);
|
||||||
|
FD_SET(STDIN_FILENO, &fds);
|
||||||
|
return select(STDIN_FILENO + 1, &fds, NULL, NULL, &tv);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
int main(int argc, char *argv[])
|
||||||
|
{
|
||||||
|
rclcpp::init(argc, argv);
|
||||||
|
auto node = std::make_shared<Keyboardinput>();
|
||||||
|
spin(node);
|
||||||
|
rclcpp::shutdown();
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,3 @@
|
||||||
|
# Control Command Inputs
|
||||||
|
|
||||||
|
This folder contains the ros2 node for control input, like keyboard or gamepad.
|
||||||
|
|
@ -2,14 +2,13 @@
|
||||||
// Created by biao on 24-9-10.
|
// Created by biao on 24-9-10.
|
||||||
//
|
//
|
||||||
|
|
||||||
#include "FSMState.h"
|
|
||||||
|
|
||||||
#ifndef STATEFIXEDSTAND_H
|
#ifndef STATEFIXEDSTAND_H
|
||||||
#define STATEFIXEDSTAND_H
|
#define STATEFIXEDSTAND_H
|
||||||
|
|
||||||
|
#include "FSMState.h"
|
||||||
|
|
||||||
class StateFixedStand : public FSMState {
|
class StateFixedStand : public FSMState {
|
||||||
|
public:
|
||||||
explicit StateFixedStand(CtrlComponent ctrlComp);
|
explicit StateFixedStand(CtrlComponent ctrlComp);
|
||||||
|
|
||||||
void enter() override;
|
void enter() override;
|
||||||
|
|
@ -22,5 +21,4 @@ class StateFixedStand : public FSMState {
|
||||||
};
|
};
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
#endif //STATEFIXEDSTAND_H
|
#endif //STATEFIXEDSTAND_H
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,11 @@
|
||||||
|
cmake_minimum_required(VERSION 3.8)
|
||||||
|
project(go1_description)
|
||||||
|
|
||||||
|
find_package(ament_cmake REQUIRED)
|
||||||
|
|
||||||
|
install(
|
||||||
|
DIRECTORY meshes xacro launch config
|
||||||
|
DESTINATION share/${PROJECT_NAME}/
|
||||||
|
)
|
||||||
|
|
||||||
|
ament_package()
|
||||||
|
|
@ -0,0 +1,9 @@
|
||||||
|
# Controller Manager configuration
|
||||||
|
controller_manager:
|
||||||
|
ros__parameters:
|
||||||
|
update_rate: 200 # Hz
|
||||||
|
use_sim_time: true # If running in simulation
|
||||||
|
|
||||||
|
# Define the available controllers
|
||||||
|
joint_state_broadcaster:
|
||||||
|
type: joint_state_broadcaster/JointStateBroadcaster
|
||||||
|
|
@ -0,0 +1,255 @@
|
||||||
|
Panels:
|
||||||
|
- Class: rviz_common/Displays
|
||||||
|
Help Height: 138
|
||||||
|
Name: Displays
|
||||||
|
Property Tree Widget:
|
||||||
|
Expanded:
|
||||||
|
- /Global Options1
|
||||||
|
- /Status1
|
||||||
|
- /RobotModel1
|
||||||
|
Splitter Ratio: 0.5
|
||||||
|
Tree Height: 832
|
||||||
|
- Class: rviz_common/Selection
|
||||||
|
Name: Selection
|
||||||
|
- Class: rviz_common/Tool Properties
|
||||||
|
Expanded:
|
||||||
|
- /2D Goal Pose1
|
||||||
|
- /Publish Point1
|
||||||
|
Name: Tool Properties
|
||||||
|
Splitter Ratio: 0.5886790156364441
|
||||||
|
- Class: rviz_common/Views
|
||||||
|
Expanded:
|
||||||
|
- /Current View1
|
||||||
|
Name: Views
|
||||||
|
Splitter Ratio: 0.5
|
||||||
|
- Class: rviz_common/Time
|
||||||
|
Experimental: false
|
||||||
|
Name: Time
|
||||||
|
SyncMode: 0
|
||||||
|
SyncSource: ""
|
||||||
|
Visualization Manager:
|
||||||
|
Class: ""
|
||||||
|
Displays:
|
||||||
|
- Alpha: 0.5
|
||||||
|
Cell Size: 1
|
||||||
|
Class: rviz_default_plugins/Grid
|
||||||
|
Color: 160; 160; 164
|
||||||
|
Enabled: true
|
||||||
|
Line Style:
|
||||||
|
Line Width: 0.029999999329447746
|
||||||
|
Value: Lines
|
||||||
|
Name: Grid
|
||||||
|
Normal Cell Count: 0
|
||||||
|
Offset:
|
||||||
|
X: 0
|
||||||
|
Y: 0
|
||||||
|
Z: 0
|
||||||
|
Plane: XY
|
||||||
|
Plane Cell Count: 10
|
||||||
|
Reference Frame: <Fixed Frame>
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Class: rviz_default_plugins/RobotModel
|
||||||
|
Collision Enabled: false
|
||||||
|
Description File: ""
|
||||||
|
Description Source: Topic
|
||||||
|
Description Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /robot_description
|
||||||
|
Enabled: true
|
||||||
|
Links:
|
||||||
|
All Links Enabled: true
|
||||||
|
Expand Joint Details: false
|
||||||
|
Expand Link Details: false
|
||||||
|
Expand Tree: false
|
||||||
|
FL_calf:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
FL_foot:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
FL_hip:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
FL_thigh:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
FR_calf:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
FR_foot:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
FR_hip:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
FR_thigh:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
Link Tree Style: Links in Alphabetic Order
|
||||||
|
RL_calf:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
RL_foot:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
RL_hip:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
RL_thigh:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
RR_calf:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
RR_foot:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
RR_hip:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
RR_thigh:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
base:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
imu_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
trunk:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
Mass Properties:
|
||||||
|
Inertia: false
|
||||||
|
Mass: false
|
||||||
|
Name: RobotModel
|
||||||
|
TF Prefix: ""
|
||||||
|
Update Interval: 0
|
||||||
|
Value: true
|
||||||
|
Visual Enabled: true
|
||||||
|
Enabled: true
|
||||||
|
Global Options:
|
||||||
|
Background Color: 48; 48; 48
|
||||||
|
Fixed Frame: base
|
||||||
|
Frame Rate: 30
|
||||||
|
Name: root
|
||||||
|
Tools:
|
||||||
|
- Class: rviz_default_plugins/Interact
|
||||||
|
Hide Inactive Objects: true
|
||||||
|
- Class: rviz_default_plugins/MoveCamera
|
||||||
|
- Class: rviz_default_plugins/Select
|
||||||
|
- Class: rviz_default_plugins/FocusCamera
|
||||||
|
- Class: rviz_default_plugins/Measure
|
||||||
|
Line color: 128; 128; 0
|
||||||
|
- Class: rviz_default_plugins/SetInitialPose
|
||||||
|
Covariance x: 0.25
|
||||||
|
Covariance y: 0.25
|
||||||
|
Covariance yaw: 0.06853891909122467
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /initialpose
|
||||||
|
- Class: rviz_default_plugins/SetGoal
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /goal_pose
|
||||||
|
- Class: rviz_default_plugins/PublishPoint
|
||||||
|
Single click: true
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /clicked_point
|
||||||
|
Transformation:
|
||||||
|
Current:
|
||||||
|
Class: rviz_default_plugins/TF
|
||||||
|
Value: true
|
||||||
|
Views:
|
||||||
|
Current:
|
||||||
|
Class: rviz_default_plugins/Orbit
|
||||||
|
Distance: 1.469738483428955
|
||||||
|
Enable Stereo Rendering:
|
||||||
|
Stereo Eye Separation: 0.05999999865889549
|
||||||
|
Stereo Focal Distance: 1
|
||||||
|
Swap Stereo Eyes: false
|
||||||
|
Value: false
|
||||||
|
Focal Point:
|
||||||
|
X: 0.0716833621263504
|
||||||
|
Y: -0.002330765128135681
|
||||||
|
Z: -0.15908166766166687
|
||||||
|
Focal Shape Fixed Size: true
|
||||||
|
Focal Shape Size: 0.05000000074505806
|
||||||
|
Invert Z Axis: false
|
||||||
|
Name: Current View
|
||||||
|
Near Clip Distance: 0.009999999776482582
|
||||||
|
Pitch: 0.5053979158401489
|
||||||
|
Target Frame: <Fixed Frame>
|
||||||
|
Value: Orbit (rviz)
|
||||||
|
Yaw: 0.8203961253166199
|
||||||
|
Saved: ~
|
||||||
|
Window Geometry:
|
||||||
|
Displays:
|
||||||
|
collapsed: true
|
||||||
|
Height: 1194
|
||||||
|
Hide Left Dock: true
|
||||||
|
Hide Right Dock: true
|
||||||
|
QMainWindow State: 000000ff00000000fd0000000400000000000001f40000043cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007300000000700000043c0000018600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015d0000043cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000700000043c0000013800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006180000005efc0100000002fb0000000800540069006d00650100000000000006180000047a00fffffffb0000000800540069006d0065010000000000000450000000000000000000000618000003a000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||||
|
Selection:
|
||||||
|
collapsed: false
|
||||||
|
Time:
|
||||||
|
collapsed: false
|
||||||
|
Tool Properties:
|
||||||
|
collapsed: false
|
||||||
|
Views:
|
||||||
|
collapsed: true
|
||||||
|
Width: 1560
|
||||||
|
X: 1327
|
||||||
|
Y: 195
|
||||||
|
|
@ -0,0 +1,89 @@
|
||||||
|
import os
|
||||||
|
|
||||||
|
import xacro
|
||||||
|
from ament_index_python.packages import get_package_share_directory
|
||||||
|
from launch import LaunchDescription
|
||||||
|
from launch.actions import DeclareLaunchArgument, OpaqueFunction, IncludeLaunchDescription
|
||||||
|
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||||
|
from launch.substitutions import PathJoinSubstitution
|
||||||
|
from launch_ros.actions import Node
|
||||||
|
from launch_ros.substitutions import FindPackageShare
|
||||||
|
|
||||||
|
package_description = "go1_description"
|
||||||
|
|
||||||
|
|
||||||
|
def process_xacro(context):
|
||||||
|
robot_type_value = context.launch_configurations['robot_type']
|
||||||
|
pkg_path = os.path.join(get_package_share_directory(package_description))
|
||||||
|
xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
|
||||||
|
robot_description_config = xacro.process_file(xacro_file, mappings={'robot_type': robot_type_value})
|
||||||
|
return (robot_description_config.toxml(), robot_type_value)
|
||||||
|
|
||||||
|
|
||||||
|
def launch_setup(context, *args, **kwargs):
|
||||||
|
(robot_description, robot_type) = process_xacro(context)
|
||||||
|
robot_controllers = PathJoinSubstitution(
|
||||||
|
[
|
||||||
|
FindPackageShare(package_description),
|
||||||
|
"config",
|
||||||
|
"robot_control.yaml",
|
||||||
|
]
|
||||||
|
)
|
||||||
|
return [
|
||||||
|
Node(
|
||||||
|
package='robot_state_publisher',
|
||||||
|
executable='robot_state_publisher',
|
||||||
|
name='robot_state_publisher',
|
||||||
|
parameters=[
|
||||||
|
{
|
||||||
|
'publish_frequency': 100.0,
|
||||||
|
'use_tf_static': True,
|
||||||
|
'robot_description': robot_description,
|
||||||
|
'ignore_timestamp': True
|
||||||
|
}
|
||||||
|
],
|
||||||
|
),
|
||||||
|
Node(
|
||||||
|
package="controller_manager",
|
||||||
|
executable="ros2_control_node",
|
||||||
|
parameters=[robot_controllers],
|
||||||
|
remappings=[
|
||||||
|
("~/robot_description", "/robot_description"),
|
||||||
|
],
|
||||||
|
output="both",
|
||||||
|
),
|
||||||
|
Node(
|
||||||
|
package="controller_manager",
|
||||||
|
executable="spawner",
|
||||||
|
arguments=["joint_state_broadcaster",
|
||||||
|
"--controller-manager", "/controller_manager"],
|
||||||
|
),
|
||||||
|
# Node(
|
||||||
|
# package="controller_manager",
|
||||||
|
# executable="spawner",
|
||||||
|
# arguments=["imu_sensor_broadcaster",
|
||||||
|
# "--controller-manager", "/controller_manager"],
|
||||||
|
# ),
|
||||||
|
]
|
||||||
|
|
||||||
|
|
||||||
|
def generate_launch_description():
|
||||||
|
robot_type_arg = DeclareLaunchArgument(
|
||||||
|
'robot_type',
|
||||||
|
default_value='go1',
|
||||||
|
description='Type of the robot'
|
||||||
|
)
|
||||||
|
|
||||||
|
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
|
||||||
|
|
||||||
|
return LaunchDescription([
|
||||||
|
robot_type_arg,
|
||||||
|
OpaqueFunction(function=launch_setup),
|
||||||
|
Node(
|
||||||
|
package='rviz2',
|
||||||
|
executable='rviz2',
|
||||||
|
name='rviz_ocs2',
|
||||||
|
output='screen',
|
||||||
|
arguments=["-d", rviz_config_file]
|
||||||
|
)
|
||||||
|
])
|
||||||
|
|
@ -0,0 +1,65 @@
|
||||||
|
import os
|
||||||
|
|
||||||
|
from ament_index_python.packages import get_package_share_directory
|
||||||
|
|
||||||
|
from launch import LaunchDescription
|
||||||
|
from launch.actions import DeclareLaunchArgument, OpaqueFunction
|
||||||
|
from launch_ros.actions import Node
|
||||||
|
|
||||||
|
import xacro
|
||||||
|
|
||||||
|
package_description = "go1_description"
|
||||||
|
|
||||||
|
def process_xacro(context):
|
||||||
|
robot_type_value = context.launch_configurations['robot_type']
|
||||||
|
pkg_path = os.path.join(get_package_share_directory(package_description))
|
||||||
|
xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
|
||||||
|
robot_description_config = xacro.process_file(xacro_file, mappings={'robot_type': robot_type_value})
|
||||||
|
return robot_description_config.toxml()
|
||||||
|
|
||||||
|
def launch_setup(context, *args, **kwargs):
|
||||||
|
robot_description = process_xacro(context)
|
||||||
|
return [
|
||||||
|
Node(
|
||||||
|
package='robot_state_publisher',
|
||||||
|
executable='robot_state_publisher',
|
||||||
|
name='robot_state_publisher',
|
||||||
|
output='screen',
|
||||||
|
parameters=[
|
||||||
|
{
|
||||||
|
'publish_frequency': 100.0,
|
||||||
|
'use_tf_static': True,
|
||||||
|
'robot_description': robot_description
|
||||||
|
}
|
||||||
|
],
|
||||||
|
),
|
||||||
|
Node(
|
||||||
|
package='joint_state_publisher_gui',
|
||||||
|
executable='joint_state_publisher_gui',
|
||||||
|
name='joint_state_publisher',
|
||||||
|
output='screen',
|
||||||
|
)
|
||||||
|
]
|
||||||
|
|
||||||
|
|
||||||
|
def generate_launch_description():
|
||||||
|
|
||||||
|
robot_type_arg = DeclareLaunchArgument(
|
||||||
|
'robot_type',
|
||||||
|
default_value='go1',
|
||||||
|
description='Type of the robot'
|
||||||
|
)
|
||||||
|
|
||||||
|
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
|
||||||
|
|
||||||
|
return LaunchDescription([
|
||||||
|
robot_type_arg,
|
||||||
|
OpaqueFunction(function=launch_setup),
|
||||||
|
Node(
|
||||||
|
package='rviz2',
|
||||||
|
executable='rviz2',
|
||||||
|
name='rviz_ocs2',
|
||||||
|
output='screen',
|
||||||
|
arguments=["-d", rviz_config_file]
|
||||||
|
)
|
||||||
|
])
|
||||||
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
|
|
@ -0,0 +1,17 @@
|
||||||
|
<?xml version="1.0"?>
|
||||||
|
<package format="2">
|
||||||
|
<name>go1_description</name>
|
||||||
|
<version>0.0.0</version>
|
||||||
|
<description>The go1_description package</description>
|
||||||
|
|
||||||
|
<maintainer email="laikago@unitree.cc">unitree</maintainer>
|
||||||
|
<license>TODO</license>
|
||||||
|
|
||||||
|
<exec_depend>joint_state_publisher</exec_depend>
|
||||||
|
<exec_depend>robot_state_publisher</exec_depend>
|
||||||
|
<exec_depend>imu_sensor_broadcaster</exec_depend>
|
||||||
|
|
||||||
|
<export>
|
||||||
|
<build_type>ament_cmake</build_type>
|
||||||
|
</export>
|
||||||
|
</package>
|
||||||
|
|
@ -0,0 +1,21 @@
|
||||||
|
# Unitree Go1 Description
|
||||||
|
This repository contains the urdf model of go1.
|
||||||
|
|
||||||
|
## Build
|
||||||
|
```bash
|
||||||
|
cd ~/ros2_ws
|
||||||
|
colcon build --packages-up-to go1_description
|
||||||
|
```
|
||||||
|
|
||||||
|
## Visualize the robot
|
||||||
|
To visualize and check the configuration of the robot in rviz, simply launch:
|
||||||
|
```bash
|
||||||
|
source ~/ros2_ws/install/setup.bash
|
||||||
|
ros2 launch go1_description visualize.launch.py
|
||||||
|
```
|
||||||
|
|
||||||
|
## Launch Hardware Interface
|
||||||
|
```bash
|
||||||
|
source ~/ros2_ws/install/setup.bash
|
||||||
|
ros2 launch go1_description hardware.launch.py
|
||||||
|
```
|
||||||
|
|
@ -0,0 +1,159 @@
|
||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||||
|
|
||||||
|
<!-- Constants for robot dimensions -->
|
||||||
|
<xacro:property name="PI" value="3.1415926535897931"/>
|
||||||
|
<xacro:property name="stick_mass" value="0.00001"/>
|
||||||
|
|
||||||
|
<!-- simplified collision value -->
|
||||||
|
<xacro:property name="trunk_width" value="0.0935"/>
|
||||||
|
<xacro:property name="trunk_length" value="0.3762"/>
|
||||||
|
<xacro:property name="trunk_height" value="0.114"/>
|
||||||
|
<xacro:property name="hip_radius" value="0.046"/>
|
||||||
|
<xacro:property name="hip_length" value="0.04"/>
|
||||||
|
<xacro:property name="thigh_shoulder_radius" value="0.041"/>
|
||||||
|
<xacro:property name="thigh_shoulder_length" value="0.032"/>
|
||||||
|
<xacro:property name="thigh_width" value="0.0245"/>
|
||||||
|
<xacro:property name="thigh_height" value="0.034"/>
|
||||||
|
<xacro:property name="calf_width" value="0.016"/>
|
||||||
|
<xacro:property name="calf_height" value="0.016"/>
|
||||||
|
<xacro:property name="foot_radius" value="0.02"/>
|
||||||
|
<xacro:property name="stick_radius" value="0.01"/>
|
||||||
|
<xacro:property name="stick_length" value="0.2"/>
|
||||||
|
|
||||||
|
<!-- kinematic value -->
|
||||||
|
<xacro:property name="thigh_offset" value="0.08"/>
|
||||||
|
<xacro:property name="thigh_length" value="0.213"/>
|
||||||
|
<xacro:property name="calf_length" value="0.213"/>
|
||||||
|
|
||||||
|
<!-- leg offset from trunk center value -->
|
||||||
|
<xacro:property name="leg_offset_x" value="0.1881"/>
|
||||||
|
<xacro:property name="leg_offset_y" value="0.04675"/>
|
||||||
|
<!-- <xacro:property name="trunk_offset_z" value="0.01675"/> -->
|
||||||
|
<xacro:property name="hip_offset" value="0.08"/>
|
||||||
|
|
||||||
|
<!-- offset of link and rotor locations (left front) -->
|
||||||
|
<xacro:property name="hip_offset_x" value="0.1881"/>
|
||||||
|
<xacro:property name="hip_offset_y" value="0.04675"/>
|
||||||
|
<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_y" value="0.04675"/>
|
||||||
|
<xacro:property name="hip_rotor_offset_z" value="0.0"/>
|
||||||
|
|
||||||
|
<xacro:property name="thigh_offset_x" value="0"/>
|
||||||
|
<xacro:property name="thigh_offset_y" value="0.08"/>
|
||||||
|
<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_y" value="-0.00015"/>
|
||||||
|
<xacro:property name="thigh_rotor_offset_z" 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_z" value="-0.213"/>
|
||||||
|
<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_z" value="0.0"/>
|
||||||
|
|
||||||
|
<!-- joint limits -->
|
||||||
|
<xacro:property name="damping" value="0.0"/>
|
||||||
|
<xacro:property name="friction" value="0.0"/>
|
||||||
|
<xacro:property name="hip_position_max" 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_torque_max" value="23.7"/>
|
||||||
|
<xacro:property name="thigh_position_max" value="4.501"/>
|
||||||
|
<xacro:property name="thigh_position_min" value="-0.686"/>
|
||||||
|
<xacro:property name="thigh_velocity_max" value="30.1"/>
|
||||||
|
<xacro:property name="thigh_torque_max" value="23.7"/>
|
||||||
|
<xacro:property name="calf_position_max" value="-0.888"/>
|
||||||
|
<xacro:property name="calf_position_min" value="-2.818"/>
|
||||||
|
<xacro:property name="calf_velocity_max" value="20.06"/>
|
||||||
|
<xacro:property name="calf_torque_max" value="35.55"/>
|
||||||
|
|
||||||
|
<!-- dynamics inertial value total 12.84kg -->
|
||||||
|
<!-- trunk -->
|
||||||
|
<xacro:property name="trunk_mass" value="5.204"/>
|
||||||
|
<xacro:property name="trunk_com_x" value="0.0223"/>
|
||||||
|
<xacro:property name="trunk_com_y" value="0.002"/>
|
||||||
|
<xacro:property name="trunk_com_z" value="-0.0005"/>
|
||||||
|
<xacro:property name="trunk_ixx" value="0.0168128557"/>
|
||||||
|
<xacro:property name="trunk_ixy" value="-0.0002296769"/>
|
||||||
|
<xacro:property name="trunk_ixz" value="-0.0002945293"/>
|
||||||
|
<xacro:property name="trunk_iyy" value="0.063009565"/>
|
||||||
|
<xacro:property name="trunk_iyz" value="-0.0000418731"/>
|
||||||
|
<xacro:property name="trunk_izz" value="0.0716547275"/>
|
||||||
|
|
||||||
|
<!-- hip (left front) -->
|
||||||
|
<xacro:property name="hip_mass" value="0.591"/>
|
||||||
|
<xacro:property name="hip_com_x" value="-0.005657"/>
|
||||||
|
<xacro:property name="hip_com_y" value="-0.008752"/>
|
||||||
|
<xacro:property name="hip_com_z" value="-0.000102"/>
|
||||||
|
<xacro:property name="hip_ixx" value="0.000334008405"/>
|
||||||
|
<xacro:property name="hip_ixy" value="-0.000010826066"/>
|
||||||
|
<xacro:property name="hip_ixz" value="0.000001290732"/>
|
||||||
|
<xacro:property name="hip_iyy" value="0.000619101213"/>
|
||||||
|
<xacro:property name="hip_iyz" value="0.000001643194"/>
|
||||||
|
<xacro:property name="hip_izz" value="0.00040057614"/>
|
||||||
|
|
||||||
|
<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_y" 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_ixy" 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_iyz" value="0.0"/>
|
||||||
|
<xacro:property name="hip_rotor_izz" value="0.000059647"/>
|
||||||
|
|
||||||
|
<!-- thigh -->
|
||||||
|
<xacro:property name="thigh_mass" value="0.92"/>
|
||||||
|
<xacro:property name="thigh_com_x" value="-0.003342"/>
|
||||||
|
<xacro:property name="thigh_com_y" value="-0.018054"/>
|
||||||
|
<xacro:property name="thigh_com_z" value="-0.033451"/>
|
||||||
|
<xacro:property name="thigh_ixx" value="0.004431760472"/>
|
||||||
|
<xacro:property name="thigh_ixy" value="0.000057496807"/>
|
||||||
|
<xacro:property name="thigh_ixz" value="-0.000218457134"/>
|
||||||
|
<xacro:property name="thigh_iyy" value="0.004485671726"/>
|
||||||
|
<xacro:property name="thigh_iyz" value="0.000572001265"/>
|
||||||
|
<xacro:property name="thigh_izz" value="0.000740309489"/>
|
||||||
|
|
||||||
|
<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_y" 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_ixy" 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_iyz" value="0.0"/>
|
||||||
|
<xacro:property name="thigh_rotor_izz" value="0.000059647"/>
|
||||||
|
|
||||||
|
<!-- calf -->
|
||||||
|
<xacro:property name="calf_mass" value="0.135862"/>
|
||||||
|
<xacro:property name="calf_com_x" value="0.006197"/>
|
||||||
|
<xacro:property name="calf_com_y" value="0.001408"/>
|
||||||
|
<xacro:property name="calf_com_z" value="-0.116695"/>
|
||||||
|
<xacro:property name="calf_ixx" value="0.001088793059"/>
|
||||||
|
<xacro:property name="calf_ixy" value="-0.000000255679"/>
|
||||||
|
<xacro:property name="calf_ixz" value="0.000007117814"/>
|
||||||
|
<xacro:property name="calf_iyy" value="0.001100428748"/>
|
||||||
|
<xacro:property name="calf_iyz" value="0.000002077264"/>
|
||||||
|
<xacro:property name="calf_izz" value="0.000024787446"/>
|
||||||
|
|
||||||
|
<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_y" 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_ixy" 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_iyz" value="0.0"/>
|
||||||
|
<xacro:property name="calf_rotor_izz" value="0.000059647"/>
|
||||||
|
|
||||||
|
<!-- foot -->
|
||||||
|
<xacro:property name="foot_mass" value="0.06"/>
|
||||||
|
|
||||||
|
</robot>
|
||||||
|
|
@ -0,0 +1,87 @@
|
||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||||
|
<xacro:macro name="depthCamera" params="camID name *origin">
|
||||||
|
<joint name="camera_joint_${name}" type="fixed">
|
||||||
|
<xacro:insert_block name="origin"/>
|
||||||
|
<parent link="trunk"/>
|
||||||
|
<child link="camera_${name}"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="camera_${name}">
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".001 .001 .001"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
|
||||||
|
<visual>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file://$(find go1_description)/meshes/depthCamera.dae" scale="1 1 1"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="1e-5" />
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="camera_optical_joint_${name}" type="fixed">
|
||||||
|
<origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
|
||||||
|
<parent link="camera_${name}"/>
|
||||||
|
<child link="camera_optical_${name}"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="camera_optical_${name}">
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<gazebo reference="camera_${name}">
|
||||||
|
<!-- <material>Gazebo/Black</material> -->
|
||||||
|
<sensor name="camera_${name}_camera" type="depth">
|
||||||
|
<update_rate>16</update_rate>
|
||||||
|
<camera>
|
||||||
|
<horizontal_fov>2.094</horizontal_fov>
|
||||||
|
<image>
|
||||||
|
<width>928</width>
|
||||||
|
<height>800</height>
|
||||||
|
<format>R8G8B8</format>
|
||||||
|
</image>
|
||||||
|
<clip>
|
||||||
|
<near>0.1</near>
|
||||||
|
<far>5</far>
|
||||||
|
</clip>
|
||||||
|
</camera>
|
||||||
|
<plugin name="camera_${name}_controller" filename="libgazebo_ros_openni_kinect.so">
|
||||||
|
<baseline>0.025</baseline>
|
||||||
|
<alwaysOn>true</alwaysOn>
|
||||||
|
<updateRate>0.0</updateRate>
|
||||||
|
<cameraName>camera_${name}_ir</cameraName>
|
||||||
|
<imageTopicName>/camera_${name}/color/image_raw</imageTopicName>
|
||||||
|
<cameraInfoTopicName>/camera_${name}/color/camera_info</cameraInfoTopicName>
|
||||||
|
<depthImageTopicName>/camera_${name}/depth/image_raw</depthImageTopicName>
|
||||||
|
<depthImageInfoTopicName>/camera_${name}/depth/camera_info</depthImageInfoTopicName>
|
||||||
|
<!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
|
||||||
|
<pointCloudTopicName>/cam${camID}/point_cloud_${name}</pointCloudTopicName>
|
||||||
|
<frameName>camera_optical_${name}</frameName>
|
||||||
|
<pointCloudCutoff>0.1</pointCloudCutoff>
|
||||||
|
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
|
||||||
|
<distortionK1>0.0</distortionK1>
|
||||||
|
<distortionK2>0.0</distortionK2>
|
||||||
|
<distortionK3>0.0</distortionK3>
|
||||||
|
<distortionT1>0.0</distortionT1>
|
||||||
|
<distortionT2>0.0</distortionT2>
|
||||||
|
<CxPrime>0</CxPrime>
|
||||||
|
<Cx>0.0045</Cx>
|
||||||
|
<Cy>0.0039</Cy>
|
||||||
|
<focalLength>0</focalLength>
|
||||||
|
<hackBaseline>0</hackBaseline>
|
||||||
|
</plugin>
|
||||||
|
</sensor>
|
||||||
|
</gazebo>
|
||||||
|
|
||||||
|
</xacro:macro>
|
||||||
|
</robot>
|
||||||
|
|
@ -0,0 +1,385 @@
|
||||||
|
<?xml version="1.0"?>
|
||||||
|
<robot>
|
||||||
|
<!-- ros_control plugin -->
|
||||||
|
<gazebo>
|
||||||
|
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
|
||||||
|
<robotNamespace>/go1_gazebo</robotNamespace>
|
||||||
|
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||||
|
</plugin>
|
||||||
|
</gazebo>
|
||||||
|
|
||||||
|
<!-- Show the trajectory of trunk center. -->
|
||||||
|
<gazebo>
|
||||||
|
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
|
||||||
|
<frequency>10</frequency>
|
||||||
|
<plot>
|
||||||
|
<link>base</link>
|
||||||
|
<pose>0 0 0 0 0 0</pose>
|
||||||
|
<material>Gazebo/Yellow</material>
|
||||||
|
</plot>
|
||||||
|
</plugin>
|
||||||
|
</gazebo>
|
||||||
|
|
||||||
|
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
|
||||||
|
<!-- <gazebo>
|
||||||
|
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
|
||||||
|
<frequency>100</frequency>
|
||||||
|
<plot>
|
||||||
|
<link>FL_foot</link>
|
||||||
|
<pose>0 0 0 0 0 0</pose>
|
||||||
|
<material>Gazebo/Green</material>
|
||||||
|
</plot>
|
||||||
|
</plugin>
|
||||||
|
</gazebo> -->
|
||||||
|
|
||||||
|
<gazebo>
|
||||||
|
<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
|
||||||
|
<bodyName>trunk</bodyName>
|
||||||
|
<topicName>/apply_force/trunk</topicName>
|
||||||
|
</plugin>
|
||||||
|
</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>
|
||||||
|
|
||||||
|
<!-- Depth camera -->
|
||||||
|
<!-- <gazebo>
|
||||||
|
<plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
|
||||||
|
<baseline>0.025</baseline>
|
||||||
|
<always_on>true</always_on>
|
||||||
|
<updateRate>0.0</updateRate>
|
||||||
|
<cameraName>unitree_camera_left</cameraName>
|
||||||
|
<frameName>depthCamera_link_left</frameName>
|
||||||
|
<imageTopicName>rgb/imageRaw_left</imageTopicName>
|
||||||
|
<depthImageTopicName>depth/imageRaw_left</depthImageTopicName>
|
||||||
|
<pointCloudTopicName>depth/points_left</pointCloudTopicName>
|
||||||
|
<cameraInfoTopicName>rgb/cameraInfo_left</cameraInfoTopicName>
|
||||||
|
<depthImageCameraInfoTopicName>depth/cameraInfo_left</depthImageCameraInfoTopicName>
|
||||||
|
<pointCloudCutoff>0.1</pointCloudCutoff>
|
||||||
|
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
|
||||||
|
<distortionK1>0.0</distortionK1>
|
||||||
|
<distortionK2>0.0</distortionK2>
|
||||||
|
<distortionK3>0.0</distortionK3>
|
||||||
|
<distortionT1>0.0</distortionT1>
|
||||||
|
<distortionT2>0.0</distortionT2>
|
||||||
|
<CxPrime>0.0</CxPrime>
|
||||||
|
<Cx>0.0045</Cx>
|
||||||
|
<Cy>0.0039</Cy>
|
||||||
|
<focalLength>0.004</focalLength>
|
||||||
|
<hackBaseline>0.0</hackBaseline>
|
||||||
|
</plugin>
|
||||||
|
</gazebo> -->
|
||||||
|
|
||||||
|
<!-- <gazebo reference="depthCamera_link_left">
|
||||||
|
<sensor name="unitree_camera_left" type="depth_camera">
|
||||||
|
<update_rate>16</update_rate>
|
||||||
|
<always_on>true</always_on>
|
||||||
|
<visualize>true</visualize>
|
||||||
|
<camera>
|
||||||
|
<horizontal_fov>2.094</horizontal_fov>
|
||||||
|
<image>
|
||||||
|
<width>928</width>
|
||||||
|
<height>800</height>
|
||||||
|
<format>R8G8B8</format>
|
||||||
|
</image>
|
||||||
|
<depth_camera></depth_camera>
|
||||||
|
<clip>
|
||||||
|
<near>0.1</near>
|
||||||
|
<far>100</far>
|
||||||
|
</clip>
|
||||||
|
</camera>
|
||||||
|
<plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
|
||||||
|
<baseline>0.025</baseline>
|
||||||
|
<always_on>true</always_on>
|
||||||
|
<updateRate>0.0</updateRate>
|
||||||
|
<cameraName>unitree_camera_left</cameraName>
|
||||||
|
<frameName>depthCamera_link_left</frameName>
|
||||||
|
<imageTopicName>rgb/imageRaw_left</imageTopicName>
|
||||||
|
<depthImageTopicName>depth/imageRaw_left</depthImageTopicName>
|
||||||
|
<pointCloudTopicName>depth/points_left</pointCloudTopicName>
|
||||||
|
<cameraInfoTopicName>rgb/cameraInfo_left</cameraInfoTopicName>
|
||||||
|
<depthImageCameraInfoTopicName>depth/cameraInfo_left</depthImageCameraInfoTopicName>
|
||||||
|
<pointCloudCutoff>0.1</pointCloudCutoff>
|
||||||
|
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
|
||||||
|
<distortionK1>0.0</distortionK1>
|
||||||
|
<distortionK2>0.0</distortionK2>
|
||||||
|
<distortionK3>0.0</distortionK3>
|
||||||
|
<distortionT1>0.0</distortionT1>
|
||||||
|
<distortionT2>0.0</distortionT2>
|
||||||
|
<CxPrime>0.0</CxPrime>
|
||||||
|
<Cx>0.0045</Cx>
|
||||||
|
<Cy>0.0039</Cy>
|
||||||
|
<focalLength>0.004</focalLength>
|
||||||
|
<hackBaseline>0.0</hackBaseline>
|
||||||
|
</plugin>
|
||||||
|
</sensor>
|
||||||
|
</gazebo> -->
|
||||||
|
|
||||||
|
<gazebo reference="depthCamera_link_left">
|
||||||
|
<sensor name="camera_link_camera" type="depth">
|
||||||
|
<update_rate>20</update_rate>
|
||||||
|
<camera>
|
||||||
|
<horizontal_fov>1.047198</horizontal_fov>
|
||||||
|
<image>
|
||||||
|
<width>640</width>
|
||||||
|
<height>480</height>
|
||||||
|
<format>R8G8B8</format>
|
||||||
|
</image>
|
||||||
|
<clip>
|
||||||
|
<near>0.05</near>
|
||||||
|
<far>3</far>
|
||||||
|
</clip>
|
||||||
|
</camera>
|
||||||
|
<plugin name="camera_link_controller" filename="libgazebo_ros_openni_kinect.so">
|
||||||
|
<baseline>0.2</baseline>
|
||||||
|
<alwaysOn>true</alwaysOn>
|
||||||
|
<updateRate>1.0</updateRate>
|
||||||
|
<cameraName>camera_link_ir</cameraName>
|
||||||
|
<imageTopicName>/camera_link/color/image_raw</imageTopicName>
|
||||||
|
<cameraInfoTopicName>/camera_link/color/camera_info</cameraInfoTopicName>
|
||||||
|
<depthImageTopicName>/camera_link/depth/image_raw</depthImageTopicName>
|
||||||
|
<depthImageInfoTopicName>/camera_link/depth/camera_info</depthImageInfoTopicName>
|
||||||
|
<pointCloudTopicName>/camera_link/depth/points</pointCloudTopicName>
|
||||||
|
<frameName>depthCamera_link_left</frameName>
|
||||||
|
<pointCloudCutoff>0.5</pointCloudCutoff>
|
||||||
|
<pointCloudCutoffMax>3.0</pointCloudCutoffMax>
|
||||||
|
<distortionK1>0.00000001</distortionK1>
|
||||||
|
<distortionK2>0.00000001</distortionK2>
|
||||||
|
<distortionK3>0.00000001</distortionK3>
|
||||||
|
<distortionT1>0.00000001</distortionT1>
|
||||||
|
<distortionT2>0.00000001</distortionT2>
|
||||||
|
<CxPrime>0</CxPrime>
|
||||||
|
<Cx>0</Cx>
|
||||||
|
<Cy>0</Cy>
|
||||||
|
<focalLength>0</focalLength>
|
||||||
|
<hackBaseline>0</hackBaseline>
|
||||||
|
</plugin>
|
||||||
|
</sensor>
|
||||||
|
</gazebo>
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
<!-- Foot contacts. -->
|
||||||
|
<gazebo reference="FR_calf">
|
||||||
|
<sensor name="FR_foot_contact" type="contact">
|
||||||
|
<update_rate>100</update_rate>
|
||||||
|
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
|
||||||
|
<contact>
|
||||||
|
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
|
||||||
|
</contact>
|
||||||
|
</sensor>
|
||||||
|
</gazebo>
|
||||||
|
<gazebo reference="FL_calf">
|
||||||
|
<sensor name="FL_foot_contact" type="contact">
|
||||||
|
<update_rate>100</update_rate>
|
||||||
|
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
|
||||||
|
<contact>
|
||||||
|
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
|
||||||
|
</contact>
|
||||||
|
</sensor>
|
||||||
|
</gazebo>
|
||||||
|
<gazebo reference="RR_calf">
|
||||||
|
<sensor name="RR_foot_contact" type="contact">
|
||||||
|
<update_rate>100</update_rate>
|
||||||
|
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
|
||||||
|
<contact>
|
||||||
|
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
|
||||||
|
</contact>
|
||||||
|
</sensor>
|
||||||
|
</gazebo>
|
||||||
|
<gazebo reference="RL_calf">
|
||||||
|
<sensor name="RL_foot_contact" type="contact">
|
||||||
|
<update_rate>100</update_rate>
|
||||||
|
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
|
||||||
|
<contact>
|
||||||
|
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
|
||||||
|
</contact>
|
||||||
|
</sensor>
|
||||||
|
</gazebo>
|
||||||
|
|
||||||
|
<!-- Visualization of Foot contacts. -->
|
||||||
|
<gazebo reference="FR_foot">
|
||||||
|
<visual>
|
||||||
|
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
|
||||||
|
<topicName>FR_foot_contact</topicName>
|
||||||
|
</plugin>
|
||||||
|
</visual>
|
||||||
|
</gazebo>
|
||||||
|
<gazebo reference="FL_foot">
|
||||||
|
<visual>
|
||||||
|
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
|
||||||
|
<topicName>FL_foot_contact</topicName>
|
||||||
|
</plugin>
|
||||||
|
</visual>
|
||||||
|
</gazebo>
|
||||||
|
<gazebo reference="RR_foot">
|
||||||
|
<visual>
|
||||||
|
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
|
||||||
|
<topicName>RR_foot_contact</topicName>
|
||||||
|
</plugin>
|
||||||
|
</visual>
|
||||||
|
</gazebo>
|
||||||
|
<gazebo reference="RL_foot">
|
||||||
|
<visual>
|
||||||
|
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
|
||||||
|
<topicName>RL_foot_contact</topicName>
|
||||||
|
</plugin>
|
||||||
|
</visual>
|
||||||
|
</gazebo>
|
||||||
|
|
||||||
|
<gazebo reference="base">
|
||||||
|
<material>Gazebo/Green</material>
|
||||||
|
<turnGravityOff>false</turnGravityOff>
|
||||||
|
</gazebo>
|
||||||
|
|
||||||
|
<gazebo reference="trunk">
|
||||||
|
<mu1>0.2</mu1>
|
||||||
|
<mu2>0.2</mu2>
|
||||||
|
<kp value="1000000.0"/>
|
||||||
|
<kd value="1.0"/>
|
||||||
|
</gazebo>
|
||||||
|
|
||||||
|
<gazebo reference="stick_link">
|
||||||
|
<mu1>0.2</mu1>
|
||||||
|
<mu2>0.2</mu2>
|
||||||
|
<material>Gazebo/White</material>
|
||||||
|
</gazebo>
|
||||||
|
|
||||||
|
<gazebo reference="imu_link">
|
||||||
|
<mu1>0.2</mu1>
|
||||||
|
<mu2>0.2</mu2>
|
||||||
|
<material>Gazebo/Red</material>
|
||||||
|
</gazebo>
|
||||||
|
|
||||||
|
<!-- FL leg -->
|
||||||
|
<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/DarkGrey</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>
|
||||||
|
</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/DarkGrey</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>
|
||||||
|
</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/DarkGrey</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>
|
||||||
|
</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/DarkGrey</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>
|
||||||
|
</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>
|
||||||
|
|
@ -0,0 +1,272 @@
|
||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||||
|
|
||||||
|
<xacro:include filename="$(find go1_description)/xacro/transmission.xacro"/>
|
||||||
|
|
||||||
|
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae">
|
||||||
|
|
||||||
|
<joint name="${name}_hip_joint" type="revolute">
|
||||||
|
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
|
||||||
|
<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
|
||||||
|
</xacro:if>
|
||||||
|
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
|
||||||
|
<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
|
||||||
|
</xacro:if>
|
||||||
|
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
|
||||||
|
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
|
||||||
|
</xacro:if>
|
||||||
|
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
|
||||||
|
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
|
||||||
|
</xacro:if>
|
||||||
|
<parent link="trunk"/>
|
||||||
|
<child link="${name}_hip"/>
|
||||||
|
<axis xyz="1 0 0"/>
|
||||||
|
<dynamics damping="${damping}" friction="${friction}"/>
|
||||||
|
<xacro:if value="${(mirror_dae == True)}">
|
||||||
|
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_position_min}" upper="${hip_position_max}"/>
|
||||||
|
</xacro:if>
|
||||||
|
<xacro:if value="${(mirror_dae == False)}">
|
||||||
|
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_position_max}" upper="${-hip_position_min}"/>
|
||||||
|
</xacro:if>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="${name}_hip_rotor_joint" type="fixed">
|
||||||
|
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
|
||||||
|
<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
|
||||||
|
</xacro:if>
|
||||||
|
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
|
||||||
|
<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
|
||||||
|
</xacro:if>
|
||||||
|
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
|
||||||
|
<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
|
||||||
|
</xacro:if>
|
||||||
|
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
|
||||||
|
<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
|
||||||
|
</xacro:if>
|
||||||
|
<parent link="trunk"/>
|
||||||
|
<child link="${name}_hip_rotor"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="${name}_hip">
|
||||||
|
<visual>
|
||||||
|
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
</xacro:if>
|
||||||
|
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
|
||||||
|
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
|
||||||
|
</xacro:if>
|
||||||
|
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
|
||||||
|
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
|
||||||
|
</xacro:if>
|
||||||
|
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
|
||||||
|
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
|
||||||
|
</xacro:if>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file://$(find go1_description)/meshes/hip.dae" scale="1 1 1"/>
|
||||||
|
</geometry>
|
||||||
|
<!-- <material name="orange"/> -->
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="${hip_length}" radius="${hip_radius}"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
|
||||||
|
<mass value="${hip_mass}"/>
|
||||||
|
<inertia
|
||||||
|
ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
|
||||||
|
iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
|
||||||
|
izz="${hip_izz}"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name="${name}_hip_rotor">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="green"/>
|
||||||
|
</visual>
|
||||||
|
<!-- <collision>
|
||||||
|
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
|
</geometry>
|
||||||
|
</collision> -->
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="${hip_rotor_com_x} ${hip_rotor_com_y} ${hip_rotor_com_z}"/>
|
||||||
|
<mass value="${hip_rotor_mass}"/>
|
||||||
|
<inertia
|
||||||
|
ixx="${hip_rotor_ixx}" ixy="${hip_rotor_ixy}" ixz="${hip_rotor_ixz}"
|
||||||
|
iyy="${hip_rotor_iyy}" iyz="${hip_rotor_iyz}"
|
||||||
|
izz="${hip_rotor_izz}"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="${name}_thigh_joint" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
|
||||||
|
<parent link="${name}_hip"/>
|
||||||
|
<child link="${name}_thigh"/>
|
||||||
|
<axis xyz="0 1 0"/>
|
||||||
|
<dynamics damping="${damping}" friction="${friction}"/>
|
||||||
|
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_position_min}" upper="${thigh_position_max}"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="${name}_thigh_rotor_joint" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="${thigh_rotor_offset_x} ${thigh_rotor_offset_y*mirror} 0"/>
|
||||||
|
<parent link="${name}_hip"/>
|
||||||
|
<child link="${name}_thigh_rotor"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="${name}_thigh">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<xacro:if value="${mirror_dae == True}">
|
||||||
|
<mesh filename="file://$(find go1_description)/meshes/thigh.dae" scale="1 1 1"/>
|
||||||
|
</xacro:if>
|
||||||
|
<xacro:if value="${mirror_dae == False}">
|
||||||
|
<mesh filename="file://$(find go1_description)/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
||||||
|
</xacro:if>
|
||||||
|
</geometry>
|
||||||
|
<!-- <material name="orange"/> -->
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
|
||||||
|
<mass value="${thigh_mass}"/>
|
||||||
|
<inertia
|
||||||
|
ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
|
||||||
|
iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
|
||||||
|
izz="${thigh_izz}"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name="${name}_thigh_rotor">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="green"/>
|
||||||
|
</visual>
|
||||||
|
<!-- <collision>
|
||||||
|
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
|
</geometry>
|
||||||
|
</collision> -->
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="${thigh_rotor_com_x} ${thigh_rotor_com_y} ${thigh_rotor_com_z}"/>
|
||||||
|
<mass value="${thigh_rotor_mass}"/>
|
||||||
|
<inertia
|
||||||
|
ixx="${thigh_rotor_ixx}" ixy="${thigh_rotor_ixy}" ixz="${thigh_rotor_ixz}"
|
||||||
|
iyy="${thigh_rotor_iyy}" iyz="${thigh_rotor_iyz}"
|
||||||
|
izz="${thigh_rotor_izz}"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="${name}_calf_joint" type="revolute">
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
|
||||||
|
<parent link="${name}_thigh"/>
|
||||||
|
<child link="${name}_calf"/>
|
||||||
|
<axis xyz="0 1 0"/>
|
||||||
|
<dynamics damping="${damping}" friction="${friction}"/>
|
||||||
|
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}" upper="${calf_position_max}"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="${name}_calf_rotor_joint" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="${calf_rotor_offset_x} ${calf_rotor_offset_y*mirror} 0"/>
|
||||||
|
<parent link="${name}_thigh"/>
|
||||||
|
<child link="${name}_calf_rotor"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="${name}_calf">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file://$(find go1_description)/meshes/calf.dae" scale="1 1 1"/>
|
||||||
|
</geometry>
|
||||||
|
<!-- <material name="orange"/> -->
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="${calf_length} ${calf_width} ${calf_height}"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
|
||||||
|
<mass value="${calf_mass}"/>
|
||||||
|
<inertia
|
||||||
|
ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
|
||||||
|
iyy="${calf_iyy}" iyz="${calf_iyz}"
|
||||||
|
izz="${calf_izz}"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name="${name}_calf_rotor">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="green"/>
|
||||||
|
</visual>
|
||||||
|
<!-- <collision>
|
||||||
|
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
|
</geometry>
|
||||||
|
</collision> -->
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="${calf_rotor_com_x} ${calf_rotor_com_y} ${calf_rotor_com_z}"/>
|
||||||
|
<mass value="${calf_rotor_mass}"/>
|
||||||
|
<inertia
|
||||||
|
ixx="${calf_rotor_ixx}" ixy="${calf_rotor_ixy}" ixz="${calf_rotor_ixz}"
|
||||||
|
iyy="${calf_rotor_iyy}" iyz="${calf_rotor_iyz}"
|
||||||
|
izz="${calf_rotor_izz}"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="${name}_foot_fixed" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
|
||||||
|
<parent link="${name}_calf"/>
|
||||||
|
<child link="${name}_foot"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="${name}_foot">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<sphere radius="${foot_radius-0.01}"/>
|
||||||
|
</geometry>
|
||||||
|
<!-- <material name="orange"/> -->
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<sphere radius="${foot_radius}"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="${foot_mass}"/>
|
||||||
|
<inertia
|
||||||
|
ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
|
||||||
|
iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
|
||||||
|
izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<xacro:leg_transmission name="${name}"/>
|
||||||
|
</xacro:macro>
|
||||||
|
</robot>
|
||||||
|
|
@ -0,0 +1,40 @@
|
||||||
|
<?xml version="1.0"?>
|
||||||
|
<robot>
|
||||||
|
|
||||||
|
<material name="black">
|
||||||
|
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||||
|
</material>
|
||||||
|
|
||||||
|
<material name="blue">
|
||||||
|
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||||
|
</material>
|
||||||
|
|
||||||
|
<material name="green">
|
||||||
|
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||||
|
</material>
|
||||||
|
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||||
|
</material>
|
||||||
|
|
||||||
|
<material name="silver">
|
||||||
|
<color rgba="${233/255} ${233/255} ${216/255} 1.0"/>
|
||||||
|
</material>
|
||||||
|
|
||||||
|
<material name="orange">
|
||||||
|
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
|
||||||
|
</material>
|
||||||
|
|
||||||
|
<material name="brown">
|
||||||
|
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
|
||||||
|
</material>
|
||||||
|
|
||||||
|
<material name="red">
|
||||||
|
<color rgba="0.8 0.0 0.0 1.0"/>
|
||||||
|
</material>
|
||||||
|
|
||||||
|
<material name="white">
|
||||||
|
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||||
|
</material>
|
||||||
|
|
||||||
|
</robot>
|
||||||
|
|
@ -0,0 +1,150 @@
|
||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<robot name="go1" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||||
|
|
||||||
|
<xacro:arg name="DEBUG" default="false"/>
|
||||||
|
|
||||||
|
<xacro:include filename="$(find go1_description)/xacro/const.xacro"/>
|
||||||
|
<xacro:include filename="$(find go1_description)/xacro/materials.xacro"/>
|
||||||
|
<xacro:include filename="$(find go1_description)/xacro/leg.xacro"/>
|
||||||
|
<xacro:include filename="$(find go1_description)/xacro/ros2_control.xacro"/>
|
||||||
|
<!-- <xacro:include filename="$(find go1_description)/xacro/gazebo.xacro"/>-->
|
||||||
|
<xacro:include filename="$(find go1_description)/xacro/depthCamera.xacro"/>
|
||||||
|
<xacro:include filename="$(find go1_description)/xacro/ultraSound.xacro"/>
|
||||||
|
|
||||||
|
<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
|
||||||
|
|
||||||
|
<!-- 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. -->
|
||||||
|
|
||||||
|
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
|
||||||
|
<xacro:if value="$(arg DEBUG)">
|
||||||
|
<link name="world"/>
|
||||||
|
<joint name="base_static_joint" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<parent link="world"/>
|
||||||
|
<child link="base"/>
|
||||||
|
</joint>
|
||||||
|
</xacro:if>
|
||||||
|
|
||||||
|
<link name="base">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.001 0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="floating_base" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<parent link="base"/>
|
||||||
|
<child link="trunk"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="trunk">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file://$(find go1_description)/meshes/trunk.dae" scale="1 1 1"/>
|
||||||
|
</geometry>
|
||||||
|
<!-- <material name="orange"/> -->
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="${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">
|
||||||
|
<parent link="trunk"/>
|
||||||
|
<child link="imu_link"/>
|
||||||
|
<origin rpy="0 0 0" xyz="-0.01592 -0.06659 -0.00617"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="imu_link">
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.001"/>
|
||||||
|
<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"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.001 0.001 0.001"/>
|
||||||
|
</geometry>
|
||||||
|
<!-- <material name="red"/> -->
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".001 .001 .001"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1" front_hind_dae="True" />
|
||||||
|
<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True" />
|
||||||
|
<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False" />
|
||||||
|
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False" />
|
||||||
|
|
||||||
|
<xacro:depthCamera camID="1" name="face">
|
||||||
|
<origin rpy="${PI} 0 0" xyz="0.2785 0.0125 0.0167"/>
|
||||||
|
</xacro:depthCamera>
|
||||||
|
|
||||||
|
<xacro:depthCamera camID="2" name="chin">
|
||||||
|
<origin rpy="${PI} ${PI/2} 0" xyz="0.2522 0.0125 -0.0436"/>
|
||||||
|
</xacro:depthCamera>
|
||||||
|
|
||||||
|
<xacro:depthCamera camID="3" name="left">
|
||||||
|
<origin rpy="${PI} 0.2618 ${PI/2}" xyz="-0.066 0.082 -0.0176"/>
|
||||||
|
</xacro:depthCamera>
|
||||||
|
|
||||||
|
<xacro:depthCamera camID="4" name="right">
|
||||||
|
<origin rpy="${PI} 0.2618 ${-PI/2}" xyz="-0.041 -0.082 -0.0176"/>
|
||||||
|
</xacro:depthCamera>
|
||||||
|
|
||||||
|
<xacro:depthCamera camID="5" name="rearDown">
|
||||||
|
<origin rpy="${PI} ${PI/2} 0" xyz="-0.0825 0.0125 -0.04365"/>
|
||||||
|
</xacro:depthCamera>
|
||||||
|
|
||||||
|
<joint name="camera_laserscan_joint_left" type="fixed">
|
||||||
|
<origin rpy="0 0.2618 0" xyz="0 0 0"/>
|
||||||
|
<parent link="camera_left"/>
|
||||||
|
<child link="camera_laserscan_link_left"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="camera_laserscan_link_left">
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="camera_laserscan_joint_right" type="fixed">
|
||||||
|
<origin rpy="0 0.2618 0" xyz="0 0 0"/>
|
||||||
|
<parent link="camera_right"/>
|
||||||
|
<child link="camera_laserscan_link_right"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="camera_laserscan_link_right">
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<xacro:ultraSound name="left">
|
||||||
|
<origin rpy="0 0.2618 ${PI/2}" xyz="-0.0535 0.0826 0.00868"/>
|
||||||
|
</xacro:ultraSound>
|
||||||
|
|
||||||
|
<xacro:ultraSound name="right">
|
||||||
|
<origin rpy="0 0.2618 ${-PI/2}" xyz="-0.0535 -0.0826 0.00868"/>
|
||||||
|
</xacro:ultraSound>
|
||||||
|
|
||||||
|
<xacro:ultraSound name="face">
|
||||||
|
<origin rpy="0 0 0" xyz="0.2747 0.0 -0.0088"/>
|
||||||
|
</xacro:ultraSound>
|
||||||
|
</robot>
|
||||||
|
|
@ -0,0 +1,156 @@
|
||||||
|
<?xml version="1.0"?>
|
||||||
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||||
|
|
||||||
|
<ros2_control name="UnitreeSystem" type="system">
|
||||||
|
|
||||||
|
<hardware>
|
||||||
|
<plugin>hardware_unitree_mujoco/HardwareUnitree</plugin>
|
||||||
|
</hardware>
|
||||||
|
|
||||||
|
<joint name="FR_hip_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<command_interface name="effort"/>
|
||||||
|
<command_interface name="kp"/>
|
||||||
|
<command_interface name="kd"/>
|
||||||
|
|
||||||
|
<state_interface name="position"/>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="FR_thigh_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<command_interface name="effort"/>
|
||||||
|
<command_interface name="kp"/>
|
||||||
|
<command_interface name="kd"/>
|
||||||
|
|
||||||
|
<state_interface name="position"/>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="FR_calf_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<command_interface name="effort"/>
|
||||||
|
<command_interface name="kp"/>
|
||||||
|
<command_interface name="kd"/>
|
||||||
|
|
||||||
|
<state_interface name="position"/>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="FL_hip_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<command_interface name="effort"/>
|
||||||
|
<command_interface name="kp"/>
|
||||||
|
<command_interface name="kd"/>
|
||||||
|
|
||||||
|
<state_interface name="position"/>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="FL_thigh_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<command_interface name="effort"/>
|
||||||
|
<command_interface name="kp"/>
|
||||||
|
<command_interface name="kd"/>
|
||||||
|
|
||||||
|
<state_interface name="position"/>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="FL_calf_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<command_interface name="effort"/>
|
||||||
|
<command_interface name="kp"/>
|
||||||
|
<command_interface name="kd"/>
|
||||||
|
|
||||||
|
<state_interface name="position"/>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="RR_hip_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<command_interface name="effort"/>
|
||||||
|
<command_interface name="kp"/>
|
||||||
|
<command_interface name="kd"/>
|
||||||
|
|
||||||
|
<state_interface name="position"/>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="RR_thigh_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<command_interface name="effort"/>
|
||||||
|
<command_interface name="kp"/>
|
||||||
|
<command_interface name="kd"/>
|
||||||
|
|
||||||
|
<state_interface name="position"/>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="RR_calf_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<command_interface name="effort"/>
|
||||||
|
<command_interface name="kp"/>
|
||||||
|
<command_interface name="kd"/>
|
||||||
|
|
||||||
|
<state_interface name="position"/>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="RL_hip_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<command_interface name="effort"/>
|
||||||
|
<command_interface name="kp"/>
|
||||||
|
<command_interface name="kd"/>
|
||||||
|
|
||||||
|
<state_interface name="position"/>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="RL_thigh_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<command_interface name="effort"/>
|
||||||
|
<command_interface name="kp"/>
|
||||||
|
<command_interface name="kd"/>
|
||||||
|
|
||||||
|
<state_interface name="position"/>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="RL_calf_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<command_interface name="effort"/>
|
||||||
|
<command_interface name="kp"/>
|
||||||
|
<command_interface name="kd"/>
|
||||||
|
|
||||||
|
<state_interface name="position"/>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
</ros2_control>
|
||||||
|
|
||||||
|
</robot>
|
||||||
|
|
@ -0,0 +1,42 @@
|
||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||||
|
|
||||||
|
<xacro:macro name="leg_transmission" params="name">
|
||||||
|
|
||||||
|
<transmission name="${name}_hip_tran">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="${name}_hip_joint">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="${name}_hip_motor">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
|
||||||
|
<transmission name="${name}_thigh_tran">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="${name}_thigh_joint">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="${name}_thigh_motor">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
|
||||||
|
<transmission name="${name}_calf_tran">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="${name}_calf_joint">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="${name}_calf_motor">
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
|
||||||
|
</xacro:macro>
|
||||||
|
|
||||||
|
</robot>
|
||||||
|
|
@ -0,0 +1,33 @@
|
||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||||
|
<xacro:macro name="ultraSound" params="name *origin">
|
||||||
|
<joint name="ultraSound_joint_${name}" type="fixed">
|
||||||
|
<xacro:insert_block name="origin"/>
|
||||||
|
<parent link="trunk"/>
|
||||||
|
<child link="ultraSound_${name}"/>
|
||||||
|
</joint>
|
||||||
|
<link name="ultraSound_${name}">
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size=".001 .001 .001"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
|
||||||
|
<visual>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file://$(find go1_description)/meshes/ultraSound.dae" scale="1 1 1"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="black"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="1e-5" />
|
||||||
|
<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" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
</xacro:macro>
|
||||||
|
</robot>
|
||||||
|
|
@ -1,7 +1,7 @@
|
||||||
# Controller Manager configuration
|
# Controller Manager configuration
|
||||||
controller_manager:
|
controller_manager:
|
||||||
ros__parameters:
|
ros__parameters:
|
||||||
update_rate: 50 # Hz
|
update_rate: 200 # Hz
|
||||||
use_sim_time: true # If running in simulation
|
use_sim_time: true # If running in simulation
|
||||||
|
|
||||||
# Define the available controllers
|
# Define the available controllers
|
||||||
|
|
|
||||||
|
|
@ -1,20 +0,0 @@
|
||||||
<launch>
|
|
||||||
<include
|
|
||||||
file="$(find gazebo_ros)/launch/empty_world.launch" />
|
|
||||||
<node
|
|
||||||
name="tf_footprint_base"
|
|
||||||
pkg="tf"
|
|
||||||
type="static_transform_publisher"
|
|
||||||
args="0 0 0 0 0 0 base_link base_footprint 40" />
|
|
||||||
<node
|
|
||||||
name="spawn_model"
|
|
||||||
pkg="gazebo_ros"
|
|
||||||
type="spawn_model"
|
|
||||||
args="-file $(find go2_description)/urdf/go2_description.urdf -urdf -model go2_description"
|
|
||||||
output="screen" />
|
|
||||||
<node
|
|
||||||
name="fake_joint_calibration"
|
|
||||||
pkg="rostopic"
|
|
||||||
type="rostopic"
|
|
||||||
args="pub /calibrated std_msgs/Bool true" />
|
|
||||||
</launch>
|
|
||||||
|
|
@ -34,7 +34,6 @@ rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn Hardwa
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Initializing Unitree SDK2 Channel");
|
|
||||||
ChannelFactory::Instance()->Init(1, "lo");
|
ChannelFactory::Instance()->Init(1, "lo");
|
||||||
lowcmd_publisher =
|
lowcmd_publisher =
|
||||||
std::make_shared<ChannelPublisher<unitree_go::msg::dds_::LowCmd_> >(
|
std::make_shared<ChannelPublisher<unitree_go::msg::dds_::LowCmd_> >(
|
||||||
|
|
@ -51,7 +50,6 @@ rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn Hardwa
|
||||||
},
|
},
|
||||||
1);
|
1);
|
||||||
init_low_cmd();
|
init_low_cmd();
|
||||||
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Initialized Unitree SDK2 Channel");
|
|
||||||
|
|
||||||
|
|
||||||
return SystemInterface::on_init(info);
|
return SystemInterface::on_init(info);
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue