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quadruped_ros2_control
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add and tested lidar simulation

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Huang Zhenbiao 2025-02-27 10:09:12 +08:00
parent 5139201922
commit a8d1029a0c
11 changed files with 675 additions and 182 deletions
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54
README.md
View File

@ -9,15 +9,6 @@ This repository contains the ros2-control based controllers for the quadruped ro
Todo List: Todo List:
- [x] [Mujoco Simulation](hardwares/hardware_unitree_mujoco)
- [x] [Unitree Guide Controller](controllers/unitree_guide_controller)
- [x] [Gazebo Simulation](descriptions/quadruped_gazebo)
- [x] [Leg PD Controller](controllers/leg_pd_controller)
- [x] [Contact Sensor Simulation](https://github.com/legubiao/unitree_mujoco)
- [x] [OCS2 Quadruped Control](controllers/ocs2_quadruped_controller)
- [x] [Learning-based Controller](controllers/rl_quadruped_controller/)
- [x] Fully understand the RL Workflow
- [x] ROS2 Humble Gazebo Classic Support
- [x] **[2025-02-23]** Add Gazebo Playground - [x] **[2025-02-23]** Add Gazebo Playground
- [ ] OCS2 controller for Gazebo Simulation - [ ] OCS2 controller for Gazebo Simulation
- [ ] Refactor FSM and Unitree Guide Controller - [ ] Refactor FSM and Unitree Guide Controller
@ -45,20 +36,26 @@ Video for RL Quadruped Controller:
### 1.1 Mujoco Simulator ### 1.1 Mujoco Simulator
Please use **C++ Simulation** in this [Mujoco Simulation](https://github.com/legubiao/unitree_mujoco) for more robot models and contact sensor. Please use **C++ Simulation** in this [Mujoco Simulation](https://github.com/legubiao/unitree_mujoco) for more robot
* **Python Simulation** is also supported, but you still need to install [unitree_sdk2](https://github.com/unitreerobotics/unitree_sdk2) models and contact sensor.
* **Python Simulation** is also supported, but you still need to
install [unitree_sdk2](https://github.com/unitreerobotics/unitree_sdk2)
> **Warning:** CycloneDDS ROS2 RMW may conflict with unitree_sdk2. If you cannot launch unitree mujoco simulation > **Warning:** CycloneDDS ROS2 RMW may conflict with unitree_sdk2. If you cannot launch unitree mujoco simulation
> without `sudo`, then you cannot used `unitree_mujoco_hardware`. This conflict could be solved by one of below two methods: > without `sudo`, then you cannot used `unitree_mujoco_hardware`. This conflict could be solved by one of below two
> methods:
> 1. Uninstall CycloneDDS ROS2 RMW, or > 1. Uninstall CycloneDDS ROS2 RMW, or
> 2. Follow the guide in [unitree_ros2](https://github.com/unitreerobotics/unitree_ros2) to configure the ROS2 RMW by compiling cyclone dds. > 2. Follow the guide in [unitree_ros2](https://github.com/unitreerobotics/unitree_ros2) to configure the ROS2 RMW by
compiling cyclone dds.
* Compile Unitree Hardware Interfaces * Compile Unitree Hardware Interfaces
```bash ```bash
cd ~/ros2_ws cd ~/ros2_ws
colcon build --packages-up-to hardware_unitree_mujoco colcon build --packages-up-to hardware_unitree_mujoco
``` ```
* Follow the guide in [unitree_mujoco](https://github.com/legubiao/unitree_mujoco) to launch the unitree mujoco go2 simulation * Follow the guide in [unitree_mujoco](https://github.com/legubiao/unitree_mujoco) to launch the unitree mujoco go2
simulation
* Launch the ros2-control * Launch the ros2-control
```bash ```bash
source ~/ros2_ws/install/setup.bash source ~/ros2_ws/install/setup.bash
@ -73,6 +70,7 @@ Please use **C++ Simulation** in this [Mujoco Simulation](https://github.com/leg
![mujoco](.images/mujoco.png) ![mujoco](.images/mujoco.png)
### 1.2 Gazebo Classic Simulator (ROS2 Humble) ### 1.2 Gazebo Classic Simulator (ROS2 Humble)
* Install Gazebo Classic * Install Gazebo Classic
```bash ```bash
sudo apt-get install ros-humble-gazebo-ros ros-humble-gazebo-ros2-control sudo apt-get install ros-humble-gazebo-ros ros-humble-gazebo-ros2-control
@ -94,7 +92,6 @@ Please use **C++ Simulation** in this [Mujoco Simulation](https://github.com/leg
![gazebo classic](.images/gazebo_classic.png) ![gazebo classic](.images/gazebo_classic.png)
### 1.3 Gazebo Harmonic Simulator (ROS2 Jazzy) ### 1.3 Gazebo Harmonic Simulator (ROS2 Jazzy)
* Install Gazebo * Install Gazebo
@ -102,25 +99,35 @@ Please use **C++ Simulation** in this [Mujoco Simulation](https://github.com/leg
sudo apt-get install ros-jazzy-ros-gz ros-jazzy-gz-ros2-control sudo apt-get install ros-jazzy-ros-gz ros-jazzy-gz-ros2-control
``` ```
* Compile Leg PD Controller * Compile Gazebo Playground
```bash ```bash
colcon build --packages-up-to leg_pd_controller colcon build --packages-up-to gz_quadruped_playground --symlink-install
``` ```
* Launch the ros2-control * Launch the ros2-control
```bash ```bash
source ~/ros2_ws/install/setup.bash source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py ros2 launch unitree_guide_controller gazebo.launch.py
``` ```
* Run the keyboard control node * Run the keyboard control node
```bash ```bash
source ~/ros2_ws/install/setup.bash source ~/ros2_ws/install/setup.bash
ros2 run keyboard_input keyboard_input ros2 run keyboard_input keyboard_input
``` ```
![gazebo](.images/gazebo.png) ![gazebo](.images/gazebo.png)
For more details, please refer to the [unitree guide controller](controllers/unitree_guide_controller/) For more details, please refer to the [unitree guide controller](controllers/unitree_guide_controller/)
and [go2 description](descriptions/unitree/go2_description/). and [go2 description](descriptions/unitree/go2_description/).
## What's Next
Congratulations! You have successfully launched the quadruped robot in the simulation. Here are some suggestions for you to have a try:
* **More Robot Models** could be found at [description](descriptions/)
* **Try more controllers**.
* [OCS2 Quadruped Controller](controllers/ocs2_quadruped_controller): Robust MPC-based controller for quadruped robot
* [RL Quadruped Controller](controllers/rl_quadruped_controller): Reinforcement learning controller for quadruped robot
* **Simulate with more sensors**
* [Gazebo Quadruped Playground](libraries/gz_quadruped_playground): Provide gazebo simulation with lidar or depth camera.
## Reference ## Reference
### Conference Paper ### Conference Paper
@ -140,4 +147,5 @@ Available: [https://github.com/unitreerobotics/unitree_guide](https://github.com
robots*. [Online]. Available: [https://github.com/qiayuanl/legged_control](https://github.com/qiayuanl/legged_control) robots*. [Online]. Available: [https://github.com/qiayuanl/legged_control](https://github.com/qiayuanl/legged_control)
[3] Ziqi Fan. *rl\_sar: Simulation Verification and Physical Deployment of Robot Reinforcement Learning Algorithm.* [3] Ziqi Fan. *rl\_sar: Simulation Verification and Physical Deployment of Robot Reinforcement Learning Algorithm.*
2024. Available: [https://github.com/fan-ziqi/rl_sar](https://github.com/fan-ziqi/rl_sar) 2024. Available: [https://github.com/fan-ziqi/rl_sar](https://github.com/fan-ziqi/rl_sar)

10
controllers/ocs2_quadruped_controller/launch/gazebo.launch.py
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@ -89,20 +89,16 @@ def launch_setup(context, *args, **kwargs):
'launch', 'launch',
'gz_sim.launch.py'])]), 'gz_sim.launch.py'])]),
launch_arguments=[('gz_args', [' -r -v 4 ', default_sdf_path])]), launch_arguments=[('gz_args', [' -r -v 4 ', default_sdf_path])]),
imu_sensor_broadcaster,
RegisterEventHandler( RegisterEventHandler(
event_handler=OnProcessExit( event_handler=OnProcessExit(
target_action=imu_sensor_broadcaster, target_action=gz_spawn_entity,
on_exit=[joint_state_publisher], on_exit=[joint_state_publisher,imu_sensor_broadcaster],
) )
), ),
RegisterEventHandler( RegisterEventHandler(
event_handler=OnProcessExit( event_handler=OnProcessExit(
target_action=joint_state_publisher, target_action=joint_state_publisher,
on_exit=[TimerAction( on_exit=[ocs2_controller],
period=10.0, # 延迟5秒启动
actions=[ocs2_controller]
)],
) )
), ),
] ]

18
controllers/unitree_guide_controller/launch/gazebo.launch.py
View File

@ -65,13 +65,6 @@ def launch_setup(context, *args, **kwargs):
"--controller-manager", "/controller_manager"], "--controller-manager", "/controller_manager"],
) )
leg_pd_controller = Node(
package="controller_manager",
executable="spawner",
arguments=["leg_pd_controller",
"--controller-manager", "/controller_manager"],
)
unitree_guide_controller = Node( unitree_guide_controller = Node(
package="controller_manager", package="controller_manager",
executable="spawner", executable="spawner",
@ -94,11 +87,16 @@ def launch_setup(context, *args, **kwargs):
launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]), launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]),
robot_state_publisher, robot_state_publisher,
gz_spawn_entity, gz_spawn_entity,
leg_pd_controller,
RegisterEventHandler( RegisterEventHandler(
event_handler=OnProcessExit( event_handler=OnProcessExit(
target_action=leg_pd_controller, target_action=gz_spawn_entity,
on_exit=[imu_sensor_broadcaster, joint_state_publisher, unitree_guide_controller], on_exit=[imu_sensor_broadcaster, joint_state_publisher],
)
),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=joint_state_publisher,
on_exit=[ unitree_guide_controller],
) )
), ),
] ]

30
descriptions/unitree/go2_description/xacro/gazebo.xacro
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@ -290,5 +290,35 @@
<topic>camera/image</topic> <topic>camera/image</topic>
</sensor> </sensor>
</gazebo> </gazebo>
<gazebo reference="lidar">
<sensor name='L1_lidar' type='gpu_lidar'>
<topic>scan</topic>
<update_rate>10</update_rate>
<gz_frame_id>lidar</gz_frame_id>
<lidar>
<scan>
<horizontal>
<samples>640</samples>
<resolution>1</resolution>
<min_angle>1.396263</min_angle>
<max_angle>4.8869</max_angle>
</horizontal>
<vertical>
<samples>16</samples>
<resolution>1</resolution>
<min_angle>-0.261799</min_angle>
<max_angle>0.261799</max_angle>
</vertical>
</scan>
<range>
<min>0.05</min>
<max>10.0</max>
<resolution>0.01</resolution>
</range>
</lidar>
<alwaysOn>1</alwaysOn>
<visualize>true</visualize>
</sensor>
</gazebo>
</xacro:if> </xacro:if>
</robot> </robot>

249
descriptions/unitree/go2_description/xacro/robot.xacro
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@ -2,137 +2,148 @@
<robot name="go2" xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot name="go2" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="DEBUG" default="false"/> <xacro:arg name="DEBUG" default="false"/>
<xacro:arg name="GAZEBO" default="false"/> <xacro:arg name="GAZEBO" default="false"/>
<xacro:arg name="CLASSIC" default="false"/> <xacro:arg name="CLASSIC" default="false"/>
<xacro:include filename="$(find go2_description)/xacro/const.xacro"/> <xacro:include filename="$(find go2_description)/xacro/const.xacro"/>
<xacro:include filename="$(find go2_description)/xacro/materials.xacro"/> <xacro:include filename="$(find go2_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find go2_description)/xacro/leg.xacro"/> <xacro:include filename="$(find go2_description)/xacro/leg.xacro"/>
<xacro:if value="$(arg GAZEBO)"> <xacro:if value="$(arg GAZEBO)">
<xacro:if value="$(arg CLASSIC)"> <xacro:if value="$(arg CLASSIC)">
<xacro:include filename="$(find go2_description)/xacro/gazebo_classic.xacro"/> <xacro:include filename="$(find go2_description)/xacro/gazebo_classic.xacro"/>
</xacro:if> </xacro:if>
<xacro:unless value="$(arg CLASSIC)"> <xacro:unless value="$(arg CLASSIC)">
<xacro:include filename="$(find go2_description)/xacro/gazebo.xacro"/> <xacro:include filename="$(find go2_description)/xacro/gazebo.xacro"/>
</xacro:unless> </xacro:unless>
</xacro:if> </xacro:if>
<xacro:unless value="$(arg GAZEBO)"> <xacro:unless value="$(arg GAZEBO)">
<xacro:include filename="$(find go2_description)/xacro/ros2_control.xacro"/> <xacro:include filename="$(find go2_description)/xacro/ros2_control.xacro"/>
</xacro:unless> </xacro:unless>
<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> --> <!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
<!-- Rotor related joint and link is only for demonstrate location. --> <!-- Rotor related joint and link is only for demonstrate location. -->
<!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. --> <!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. --> <!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<xacro:if value="$(arg DEBUG)"> <xacro:if value="$(arg DEBUG)">
<link name="world"/> <link name="world"/>
<joint name="base_static_joint" type="fixed"> <joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/> <parent link="world"/>
<child link="base"/> <child link="base"/>
</joint> </joint>
</xacro:if> </xacro:if>
<link name="base"> <link name="base">
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size="0.001 0.001 0.001"/> <box size="0.001 0.001 0.001"/>
</geometry> </geometry>
</visual> </visual>
</link> </link>
<joint name="floating_base" type="fixed"> <joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/> <parent link="base"/>
<child link="trunk"/> <child link="trunk"/>
</joint> </joint>
<link name="trunk"> <link name="trunk">
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="file://$(find go2_description)/meshes/trunk.dae" scale="1 1 1"/> <mesh filename="file://$(find go2_description)/meshes/trunk.dae" scale="1 1 1"/>
</geometry> </geometry>
<!-- <material name="orange"/> --> <!-- <material name="orange"/> -->
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/> <box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
</geometry> </geometry>
</collision> </collision>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size="0.1881 0.04675 0.057"/> <box size="0.1881 0.04675 0.057"/>
</geometry> </geometry>
</collision> </collision>
<collision> <collision>
<origin rpy="0 0 0" xyz="0.285 0 0.01"/> <origin rpy="0 0 0" xyz="0.285 0 0.01"/>
<geometry> <geometry>
<cylinder length="0.05" radius="0.045"/> <cylinder length="0.05" radius="0.045"/>
</geometry> </geometry>
</collision> </collision>
<collision> <collision>
<origin rpy="0 0 0" xyz="0.293 0 -0.06"/> <origin rpy="0 0 0" xyz="0.293 0 -0.06"/>
<geometry> <geometry>
<box size="0.047 0.047 0.047"/> <box size="0.047 0.047 0.047"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/> <origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
<mass value="${trunk_mass}"/> <mass value="${trunk_mass}"/>
<inertia <inertia
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}" ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
iyy="${trunk_iyy}" iyz="${trunk_iyz}" iyy="${trunk_iyy}" iyz="${trunk_iyz}"
izz="${trunk_izz}"/> izz="${trunk_izz}"/>
</inertial> </inertial>
</link> </link>
<joint name="imu_joint" type="fixed"> <joint name="imu_joint" type="fixed">
<parent link="trunk"/> <parent link="trunk"/>
<child link="imu_link"/> <child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
</joint> </joint>
<link name="imu_link"> <link name="imu_link">
<inertial> <inertial>
<mass value="0.001"/> <mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/> <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial> </inertial>
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size="0.001 0.001 0.001"/> <box size="0.001 0.001 0.001"/>
</geometry> </geometry>
<!-- <material name="red"/> --> <!-- <material name="red"/> -->
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size=".001 .001 .001"/> <box size=".001 .001 .001"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
<joint name="front_camera_joint" type="fixed"> <joint name="front_camera_joint" type="fixed">
<parent link="trunk"/> <parent link="trunk"/>
<child link="front_camera"/> <child link="front_camera"/>
<origin rpy="0 0 0" xyz="0.32715 0 0.04297"/> <origin rpy="0 0 0" xyz="0.32715 0 0.04297"/>
</joint> </joint>
<link name="front_camera"> <link name="front_camera">
</link> </link>
<xacro:leg name="FR" mirror="-1" mirror_dae="False" front_hind="1" front_hind_dae="True"/> <joint name="lidar_joint" type="fixed">
<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True"/> <origin
<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False"/> xyz="0.28945 0 -0.046825" rpy="0 2.8782 0"/>
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False"/> <parent link="trunk"/>
<child link="lidar"/>
<axis xyz="0 0 0"/>
</joint>
<link name="lidar">
</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"/>
</robot> </robot>

4
hardwares/gz_quadruped_hardware/src/gz_system.cpp
View File

@ -572,12 +572,12 @@ namespace gz_quadruped_hardware
return std::move(this->dataPtr->command_interfaces_); return std::move(this->dataPtr->command_interfaces_);
} }
CallbackReturn GazeboSimSystem::on_activate(const rclcpp_lifecycle::State& previous_state) CallbackReturn GazeboSimSystem::on_activate(const rclcpp_lifecycle::State& /*previous_state*/)
{ {
return CallbackReturn::SUCCESS; return CallbackReturn::SUCCESS;
} }
CallbackReturn GazeboSimSystem::on_deactivate(const rclcpp_lifecycle::State& previous_state) CallbackReturn GazeboSimSystem::on_deactivate(const rclcpp_lifecycle::State& /*previous_state*/)
{ {
return CallbackReturn::SUCCESS; return CallbackReturn::SUCCESS;
} }

1
hardwares/hardware_unitree_mujoco/package.xml
View File

@ -11,6 +11,7 @@
<test_depend>ament_lint_auto</test_depend> <test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend> <test_depend>ament_lint_common</test_depend>
<exec_depend>ros2_control</exec_depend>
<export> <export>
<build_type>ament_cmake</build_type> <build_type>ament_cmake</build_type>

24
libraries/gz_quadruped_playground/README.md
View File

@ -16,15 +16,23 @@ colcon build --packages-up-to gz_quadruped_playground --symlink-install
## Launch Simulation ## Launch Simulation
* Unitree Guide Controller * Unitree Guide Controller
```bash ```bash
source ~/ros2_ws/install/setup.bash source ~/ros2_ws/install/setup.bash
ros2 launch gz_quadruped_playground gazebo.launch.py controller:=unitree_guide ros2 launch gz_quadruped_playground gazebo.launch.py
``` ```
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch gz_quadruped_playground gazebo.launch.py world:=warehouse
```
* OCS2 Quadruped Controller * OCS2 Quadruped Controller
```bash ```bash
source ~/ros2_ws/install/setup.bash source ~/ros2_ws/install/setup.bash
ros2 launch gz_quadruped_playground gazebo.launch.py controller:=ocs2 ros2 launch gz_quadruped_playground gazebo.launch.py controller:=ocs2
``` ```
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch gz_quadruped_playground gazebo.launch.py controller:=ocs2 world:=warehouse
```
## Related Materials ## Related Materials

64
libraries/gz_quadruped_playground/config/rviz.rviz
View File

@ -8,8 +8,9 @@ Panels:
- /Status1 - /Status1
- /Grid1 - /Grid1
- /RobotModel1 - /RobotModel1
- /PointCloud21
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Tree Height: 216 Tree Height: 138
- Class: rviz_common/Selection - Class: rviz_common/Selection
Name: Selection Name: Selection
- Class: rviz_common/Tool Properties - Class: rviz_common/Tool Properties
@ -27,7 +28,7 @@ Panels:
Experimental: false Experimental: false
Name: Time Name: Time
SyncMode: 0 SyncMode: 0
SyncSource: "" SyncSource: PointCloud2
Visualization Manager: Visualization Manager:
Class: "" Class: ""
Displays: Displays:
@ -161,6 +162,10 @@ Visualization Manager:
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
lidar:
Alpha: 1
Show Axes: false
Show Trail: false
trunk: trunk:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
@ -188,6 +193,39 @@ Visualization Manager:
Reliability Policy: Reliable Reliability Policy: Reliable
Value: /camera/image Value: /camera/image
Value: true Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 0
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /scan/points
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true Enabled: true
Global Options: Global Options:
Background Color: 0; 0; 0 Background Color: 0; 0; 0
@ -234,35 +272,35 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz_default_plugins/Orbit Class: rviz_default_plugins/Orbit
Distance: 2.8712024688720703 Distance: 1.5249122381210327
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Focal Point: Focal Point:
X: -0.004370270296931267 X: 1.770981788635254
Y: 0.06990259140729904 Y: -0.6720151305198669
Z: -0.18453647196292877 Z: 2.1505401134490967
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806 Focal Shape Size: 0.05000000074505806
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.009999999776482582 Near Clip Distance: 0.009999999776482582
Pitch: 0.310397744178772 Pitch: 0.42039743065834045
Target Frame: <Fixed Frame> Target Frame: <Fixed Frame>
Value: Orbit (rviz) Value: Orbit (rviz)
Yaw: 0.8653964400291443 Yaw: 3.25040864944458
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 786 Height: 1431
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: true Hide Right Dock: true
Image: Image:
collapsed: false collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000015600000258fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000019d000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001de000000b50000001600ffffff000000010000015d0000043cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000700000043c000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000048d0000005efc0100000002fb0000000800540069006d006501000000000000048d0000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000003310000025800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd0000000400000000000001f40000048dfc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000070000001860000018600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000202000002fb0000002800ffffff000000010000015d0000043cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000700000043c0000013800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000068e0000005efc0100000002fb0000000800540069006d006501000000000000068e0000047a00fffffffb0000000800540069006d006501000000000000045000000000000000000000048e0000048d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection: Selection:
collapsed: false collapsed: false
Time: Time:
@ -271,6 +309,6 @@ Window Geometry:
collapsed: false collapsed: false
Views: Views:
collapsed: true collapsed: true
Width: 1165 Width: 1678
X: 1283 X: 2254
Y: 199 Y: 268

2
libraries/gz_quadruped_playground/launch/gazebo.launch.py
View File

@ -120,6 +120,8 @@ def generate_launch_description():
arguments=[ arguments=[
"/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock", "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
"/camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo", "/camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo",
"/scan@sensor_msgs/msg/LaserScan@gz.msgs.LaserScan",
"/scan/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked",
# "/odom@nav_msgs/msg/Odometry@gz.msgs.Odometry", # "/odom@nav_msgs/msg/Odometry@gz.msgs.Odometry",
# "/odom_with_covariance@nav_msgs/msg/Odometry@gz.msgs.OdometryWithCovariance", # "/odom_with_covariance@nav_msgs/msg/Odometry@gz.msgs.OdometryWithCovariance",
# "/tf@tf2_msgs/msg/TFMessage@gz.msgs.Pose_V" # "/tf@tf2_msgs/msg/TFMessage@gz.msgs.Pose_V"

401
libraries/gz_quadruped_playground/worlds/warehouse.sdf Normal file
View File

@ -0,0 +1,401 @@
<?xml version='1.0' encoding='ASCII'?>
<sdf version='1.7'>
<world name='world_demo'>
<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="gz-sim-sensors-system"
name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>
<model name='ground_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>1 1</size>
</plane>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
</link>
<pose>0 0 0 0 0 0</pose>
</model>
<include>
<uri>
https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Depot
</uri>
<pose>7.19009 1.09982 0 0 0 0</pose>
</include>
<model name='depot_collision'>
<static>1</static>
<pose>7.19009 1.09982 0 0 0 0</pose>
<link name='collision_link'>
<pose>0 0 0 0 0 0</pose>
<collision name='wall1'>
<pose>0 -7.6129 4.5 0 0 0</pose>
<geometry>
<box>
<size>30.167 0.08 9</size>
</box>
</geometry>
</collision>
<collision name='wall2'>
<pose>0 7.2875 4.5 0 0 0</pose>
<geometry>
<box>
<size>30.167 0.08 9</size>
</box>
</geometry>
</collision>
<collision name='wall3'>
<pose>-15 0 4.5 0 0 0</pose>
<geometry>
<box>
<size>0.08 15.360 9</size>
</box>
</geometry>
</collision>
<collision name='wall4'>
<pose>15 0 4.5 0 0 0</pose>
<geometry>
<box>
<size>0.08 15.360 9</size>
</box>
</geometry>
</collision>
<collision name='boxes1'>
<pose>0.22268 -4.7268 0.68506 0 0 0</pose>
<geometry>
<box>
<size>1.288 1.422 1.288</size>
</box>
</geometry>
</collision>
<collision name='boxes2'>
<pose>3.1727 -4.7268 0.68506 0 0 0</pose>
<geometry>
<box>
<size>1.288 1.422 1.288</size>
</box>
</geometry>
</collision>
<collision name='boxes3'>
<pose>5.95268 -4.7268 0.68506 0 0 0</pose>
<geometry>
<box>
<size>1.288 1.422 1.288</size>
</box>
</geometry>
</collision>
<collision name='boxes4'>
<pose>8.55887 -4.7268 0.68506 0 0 0</pose>
<geometry>
<box>
<size>1.288 1.422 1.288</size>
</box>
</geometry>
</collision>
<collision name='boxes5'>
<pose>11.326 -4.7268 0.68506 0 0 0</pose>
<geometry>
<box>
<size>1.288 1.422 1.288</size>
</box>
</geometry>
</collision>
<collision name='boxes6'>
<pose>0.22268 -2.37448 0.68506 0 0 0</pose>
<geometry>
<box>
<size>1.288 1.422 1.288</size>
</box>
</geometry>
</collision>
<collision name='boxes7'>
<pose>3.1727 -2.37448 0.68506 0 0 0</pose>
<geometry>
<box>
<size>1.288 1.422 1.288</size>
</box>
</geometry>
</collision>
<collision name='boxes8'>
<pose>5.95268 -2.37448 0.68506 0 0 0</pose>
<geometry>
<box>
<size>1.288 1.422 1.288</size>
</box>
</geometry>
</collision>
<collision name='boxes9'>
<pose>8.55887 -2.37448 0.68506 0 0 0</pose>
<geometry>
<box>
<size>1.288 1.422 1.288</size>
</box>
</geometry>
</collision>
<collision name='boxes10'>
<pose>11.326 -2.37448 0.68506 0 0 0</pose>
<geometry>
<box>
<size>1.288 1.422 1.288</size>
</box>
</geometry>
</collision>
<collision name='boxes11'>
<pose>-1.2268 4.1557 0.68506 0 0 -1.02799893</pose>
<geometry>
<box>
<size>1.288 1.422 1.288</size>
</box>
</geometry>
</collision>
<collision name='pilar1'>
<pose>-7.5402 3.6151 1 0 0 0</pose>
<geometry>
<box>
<size>0.465 0.465 2</size>
</box>
</geometry>
</collision>
<collision name='pilar2'>
<pose>7.4575 3.6151 1 0 0 0</pose>
<geometry>
<box>
<size>0.465 0.465 2</size>
</box>
</geometry>
</collision>
<collision name='pilar3'>
<pose>-7.5402 -3.8857 1 0 0 0</pose>
<geometry>
<box>
<size>0.465 0.465 2</size>
</box>
</geometry>
</collision>
<collision name='pilar4'>
<pose>7.4575 -3.8857 1 0 0 0</pose>
<geometry>
<box>
<size>0.465 0.465 2</size>
</box>
</geometry>
</collision>
<collision name='pallet_mover1'>
<pose>-0.6144 -2.389 0.41838 0 0 0</pose>
<geometry>
<box>
<size>0.363 0.440 0.719</size>
</box>
</geometry>
</collision>
<collision name='pallet_mover2'>
<pose>-1.6004 4.8225 0.41838 0 0 0</pose>
<geometry>
<box>
<size>0.363 0.244 0.719</size>
</box>
</geometry>
</collision>
<collision name='stairs'>
<pose>13.018 3.1652 0.25 0 0 0</pose>
<geometry>
<box>
<size>1.299 0.6 0.5</size>
</box>
</geometry>
</collision>
<collision name='shelfs1'>
<pose>1.4662 -0.017559 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>1</length>
</cylinder>
</geometry>
</collision>
<collision name='shelfs2'>
<pose>2.6483 -0.017559 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>1</length>
</cylinder>
</geometry>
</collision>
<collision name='shelfs3'>
<pose>5.3247 -0.017559 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>1</length>
</cylinder>
</geometry>
</collision>
<collision name='shelfs4'>
<pose>6.5063 -0.017559 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>1</length>
</cylinder>
</geometry>
</collision>
<collision name='shelfs5'>
<pose>9.0758 -0.017559 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>1</length>
</cylinder>
</geometry>
</collision>
<collision name='shelfs6'>
<pose>10.258 -0.017559 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>1</length>
</cylinder>
</geometry>
</collision>
<collision name='shelfs7'>
<pose>1.4662 2.5664 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>1</length>
</cylinder>
</geometry>
</collision>
<collision name='shelfs8'>
<pose>2.6483 2.5664 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>1</length>
</cylinder>
</geometry>
</collision>
<collision name='shelfs9'>
<pose>5.3247 2.5664 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>1</length>
</cylinder>
</geometry>
</collision>
<collision name='shelfs10'>
<pose>6.5063 2.5664 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>1</length>
</cylinder>
</geometry>
</collision>
<collision name='shelfs11'>
<pose>9.0758 2.5664 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>1</length>
</cylinder>
</geometry>
</collision>
<collision name='shelfs12'>
<pose>10.258 2.5664 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>1</length>
</cylinder>
</geometry>
</collision>
<collision name='shelfs13'>
<pose>1.4662 5.1497 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>1</length>
</cylinder>
</geometry>
</collision>
<collision name='shelfs14'>
<pose>2.6483 5.1497 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>1</length>
</cylinder>
</geometry>
</collision>
<collision name='shelfs15'>
<pose>5.3247 5.1497 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>1</length>
</cylinder>
</geometry>
</collision>
<collision name='shelfs16'>
<pose>6.5063 5.1497 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>1</length>
</cylinder>
</geometry>
</collision>
<collision name='shelfs17'>
<pose>9.0758 5.1497 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>1</length>
</cylinder>
</geometry>
</collision>
<collision name='shelfs18'>
<pose>10.258 5.1497 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>1</length>
</cylinder>
</geometry>
</collision>
</link>
</model>
</world>
</sdf>