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quadruped_ros2_control
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add gz quadruped hardware

This commit is contained in:
Huang Zhenbiao 2025-02-25 22:18:55 +08:00
parent 69e9e1f477
commit c3797c8d6e
21 changed files with 2147 additions and 293 deletions
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4
controllers/ocs2_quadruped_controller/include/ocs2_quadruped_controller/estimator/FromOdomTopic.h
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@ -4,6 +4,7 @@
#pragma once
#include "StateEstimateBase.h"
#include <realtime_tools/realtime_buffer.h>
namespace ocs2::legged_robot
{
@ -17,7 +18,6 @@ namespace ocs2::legged_robot
protected:
rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_sub_;
vector3_t position_;
vector3_t linear_velocity_;
realtime_tools::RealtimeBuffer<nav_msgs::msg::Odometry> buffer_;
};
};

8
controllers/ocs2_quadruped_controller/launch/gazebo.launch.py
View File

@ -101,7 +101,13 @@ def launch_setup(context, *args, **kwargs):
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=leg_pd_controller,
on_exit=[imu_sensor_broadcaster, joint_state_publisher, ocs2_controller],
on_exit=[imu_sensor_broadcaster, joint_state_publisher],
)
),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=joint_state_publisher,
on_exit=[ocs2_controller],
)
),
]

54
controllers/ocs2_quadruped_controller/src/estimator/FromOdomTopic.cpp
View File

@ -4,38 +4,38 @@
#include "ocs2_quadruped_controller/estimator/FromOdomTopic.h"
namespace ocs2::legged_robot
{
FromOdomTopic::FromOdomTopic(CentroidalModelInfo info, CtrlComponent& ctrl_component,
const rclcpp_lifecycle::LifecycleNode::SharedPtr& node) :
StateEstimateBase(
std::move(info), ctrl_component,
node)
{
namespace ocs2::legged_robot {
FromOdomTopic::FromOdomTopic(CentroidalModelInfo info, CtrlComponent &ctrl_component,
const rclcpp_lifecycle::LifecycleNode::SharedPtr &node) : StateEstimateBase(
std::move(info), ctrl_component,
node) {
odom_sub_ = node_->create_subscription<nav_msgs::msg::Odometry>(
"/odom", 10, [this](const nav_msgs::msg::Odometry::SharedPtr msg)
{
// Handle message
position_ = {
msg->pose.pose.position.x,
msg->pose.pose.position.y,
msg->pose.pose.position.z,
};
linear_velocity_ = {
msg->twist.twist.linear.x,
msg->twist.twist.linear.y,
msg->twist.twist.linear.z,
};
"/odom", 10, [this](const nav_msgs::msg::Odometry::SharedPtr msg) {
buffer_.writeFromNonRT(*msg);
});
}
vector_t FromOdomTopic::update(const rclcpp::Time& time, const rclcpp::Duration& period)
{
updateJointStates();
updateImu();
vector_t FromOdomTopic::update(const rclcpp::Time &time, const rclcpp::Duration &period) {
const nav_msgs::msg::Odometry odom = *buffer_.readFromRT();
updateLinear(position_, linear_velocity_);
updateJointStates();
updateAngular(quatToZyx(Eigen::Quaternion(
odom.pose.pose.orientation.w,
odom.pose.pose.orientation.x,
odom.pose.pose.orientation.y,
odom.pose.pose.orientation.z)),
Eigen::Matrix<scalar_t, 3, 1>(
odom.twist.twist.angular.x,
odom.twist.twist.angular.y,
odom.twist.twist.angular.z));
updateLinear(Eigen::Matrix<scalar_t, 3, 1>(
odom.pose.pose.position.x,
odom.pose.pose.position.y,
odom.pose.pose.position.z),
Eigen::Matrix<scalar_t, 3, 1>(
odom.twist.twist.linear.x,
odom.twist.twist.linear.y,
odom.twist.twist.linear.z));
return rbd_state_;
}
}

1
controllers/ocs2_quadruped_controller/src/estimator/StateEstimateBase.cpp
View File

@ -68,6 +68,7 @@ namespace ocs2::legged_robot {
const vector3_t zyx = quatToZyx(quat_) - zyx_offset_;
const vector3_t angularVelGlobal = getGlobalAngularVelocityFromEulerAnglesZyxDerivatives<scalar_t>(
zyx, getEulerAnglesZyxDerivativesFromLocalAngularVelocity<scalar_t>(quatToZyx(quat_), angular_vel_local_));
updateAngular(zyx, angularVelGlobal);
}

5
descriptions/unitree/a1_description/README.md
View File

@ -60,6 +60,11 @@ ros2 launch a1_description visualize.launch.py
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller gazebo.launch.py pkg_description:=a1_description height:=0.43
```
* OCS2 Quadruped Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch ocs2_quadruped_controller gazebo.launch.py pkg_description:=a1_description
```
* RL Quadruped Controller
```bash
source ~/ros2_ws/install/setup.bash

57
descriptions/unitree/a1_description/config/gazebo.yaml
View File

@ -16,6 +16,9 @@ controller_manager:
unitree_guide_controller:
type: unitree_guide_controller/UnitreeGuideController
ocs2_quadruped_controller:
type: ocs2_quadruped_controller/Ocs2QuadrupedController
rl_quadruped_controller:
type: rl_quadruped_controller/LeggedGymController
@ -98,6 +101,60 @@ unitree_guide_controller:
- linear_acceleration.y
- linear_acceleration.z
ocs2_quadruped_controller:
ros__parameters:
update_rate: 500 # Hz
robot_pkg: "a1_description"
command_prefix: "leg_pd_controller"
joints:
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
command_interfaces:
- effort
- position
- velocity
- kp
- kd
state_interfaces:
- effort
- position
- velocity
feet:
- FL_foot
- FR_foot
- RL_foot
- RR_foot
imu_name: "imu_sensor"
base_name: "base"
imu_interfaces:
- orientation.w
- orientation.x
- orientation.y
- orientation.z
- angular_velocity.x
- angular_velocity.y
- angular_velocity.z
- linear_acceleration.x
- linear_acceleration.y
- linear_acceleration.z
estimator_type: "odom_topic"
rl_quadruped_controller:
ros__parameters:
update_rate: 200 # Hz

11
descriptions/unitree/a1_description/xacro/gazebo.xacro
View File

@ -111,6 +111,16 @@
<plugin filename="gz-sim-imu-system"
name="gz::sim::systems::Imu">
</plugin>
<plugin filename="gz-sim-odometry-publisher-system"
name="gz::sim::systems::OdometryPublisher">
<odom_frame>odom</odom_frame>
<robot_base_frame>base</robot_base_frame>
<odom_publish_frequency>500</odom_publish_frequency>
<odom_topic>odom</odom_topic>
<dimensions>3</dimensions>
<odom_covariance_topic>odom_with_covariance</odom_covariance_topic>
<tf_topic>tf</tf_topic>
</plugin>
</gazebo>
<gazebo reference="trunk">
@ -184,5 +194,4 @@
<gazebo reference="imu_joint">
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
</robot>

29
descriptions/unitree/go2_description/config/gazebo.yaml
View File

@ -10,9 +10,6 @@ controller_manager:
imu_sensor_broadcaster:
type: imu_sensor_broadcaster/IMUSensorBroadcaster
leg_pd_controller:
type: leg_pd_controller/LegPdController
unitree_guide_controller:
type: unitree_guide_controller/UnitreeGuideController
@ -27,35 +24,10 @@ imu_sensor_broadcaster:
sensor_name: "imu_sensor"
frame_id: "imu_link"
leg_pd_controller:
ros__parameters:
update_rate: 1000 # Hz
joints:
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
command_interfaces:
- effort
state_interfaces:
- position
- velocity
ocs2_quadruped_controller:
ros__parameters:
update_rate: 100 # Hz
robot_pkg: "go2_description"
command_prefix: "leg_pd_controller"
joints:
- FL_hip_joint
- FL_thigh_joint
@ -108,7 +80,6 @@ ocs2_quadruped_controller:
unitree_guide_controller:
ros__parameters:
update_rate: 200 # Hz
command_prefix: "leg_pd_controller"
joints:
- FR_hip_joint
- FR_thigh_joint

473
descriptions/unitree/go2_description/xacro/gazebo.xacro
View File

@ -1,230 +1,279 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</hardware>
<ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>gz_quadruped_hardware/GazeboSimSystem</plugin>
</hardware>
<joint name="FR_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FR_hip_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<command_interface name="kp"/>
<command_interface name="kd"/>
<joint name="FR_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FR_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="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="FL_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="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_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_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_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_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_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_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_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_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_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_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_hip_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RR_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_thigh_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_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_calf_joint">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RL_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>
<sensor name="imu_sensor">
<state_interface name="orientation.x"/>
<state_interface name="orientation.y"/>
<state_interface name="orientation.z"/>
<state_interface name="orientation.w"/>
<state_interface name="angular_velocity.x"/>
<state_interface name="angular_velocity.y"/>
<state_interface name="angular_velocity.z"/>
<state_interface name="linear_acceleration.x"/>
<state_interface name="linear_acceleration.y"/>
<state_interface name="linear_acceleration.z"/>
</sensor>
</ros2_control>
<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>
<gazebo>
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>$(find go2_description)/config/gazebo.yaml</parameters>
</plugin>
<plugin filename="gz-sim-imu-system"
name="gz::sim::systems::Imu">
</plugin>
<plugin filename="gz-sim-odometry-publisher-system"
name="gz::sim::systems::OdometryPublisher">
<odom_frame>odom</odom_frame>
<robot_base_frame>base</robot_base_frame>
<odom_publish_frequency>200</odom_publish_frequency>
<odom_topic>odom</odom_topic>
<dimensions>3</dimensions>
<odom_covariance_topic>odom_with_covariance</odom_covariance_topic>
<tf_topic>tf</tf_topic>
</plugin>
<sensor name="imu_sensor">
<state_interface name="orientation.x"/>
<state_interface name="orientation.y"/>
<state_interface name="orientation.z"/>
<state_interface name="orientation.w"/>
<state_interface name="angular_velocity.x"/>
<state_interface name="angular_velocity.y"/>
<state_interface name="angular_velocity.z"/>
<state_interface name="linear_acceleration.x"/>
<state_interface name="linear_acceleration.y"/>
<state_interface name="linear_acceleration.z"/>
</sensor>
</ros2_control>
<gazebo>
<plugin filename="gz_quadruped_hardware-system" name="gz_quadruped_hardware::GazeboSimQuadrupedPlugin">
<parameters>$(find go2_description)/config/gazebo.yaml</parameters>
</plugin>
<plugin filename="gz-sim-imu-system"
name="gz::sim::systems::Imu">
</plugin>
<plugin filename="gz-sim-odometry-publisher-system"
name="gz::sim::systems::OdometryPublisher">
<odom_frame>odom</odom_frame>
<robot_base_frame>base</robot_base_frame>
<odom_publish_frequency>1000</odom_publish_frequency>
<odom_topic>odom</odom_topic>
<dimensions>3</dimensions>
<odom_covariance_topic>odom_with_covariance</odom_covariance_topic>
<tf_topic>tf</tf_topic>
</plugin>
</gazebo>
<gazebo reference="trunk">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="imu_link">
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>500</update_rate>
<visualize>true</visualize>
<topic>imu</topic>
<imu>
<angular_velocity>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</z>
</angular_velocity>
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</z>
</linear_acceleration>
</imu>
</sensor>
</gazebo>
<gazebo reference="imu_joint">
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
<xacro:arg name="EXTERNAL_SENSORS" default="false"/>
<xacro:if value="$(arg EXTERNAL_SENSORS)">
<gazebo reference="front_camera">
<sensor name="front_camera" type="camera">
<camera>
<horizontal_fov>2.094</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
</image>
<clip>
<near>0.1</near>
<far>15</far>
</clip>
<noise>
<type>gaussian</type>
<!-- Noise is sampled independently per pixel on each frame.
That pixel's noise value is added to each of its color
channels, which at that point lie in the range [0,1]. -->
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
<optical_frame_id>front_camera</optical_frame_id>
<camera_info_topic>camera/camera_info</camera_info_topic>
</camera>
<always_on>true</always_on>
<update_rate>15</update_rate>
<visualize>true</visualize>
<topic>camera/image</topic>
</sensor>
</gazebo>
<gazebo reference="trunk">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="imu_link">
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>500</update_rate>
<visualize>true</visualize>
<topic>imu</topic>
<imu>
<angular_velocity>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</z>
</angular_velocity>
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</z>
</linear_acceleration>
</imu>
</sensor>
</gazebo>
<gazebo reference="imu_joint">
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
<xacro:arg name="EXTERNAL_SENSORS" default="false"/>
<xacro:if value="$(arg EXTERNAL_SENSORS)">
<gazebo reference="front_camera">
<sensor name="front_camera" type="camera">
<camera>
<horizontal_fov>2.094</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
</image>
<clip>
<near>0.1</near>
<far>15</far>
</clip>
<noise>
<type>gaussian</type>
<!-- Noise is sampled independently per pixel on each frame.
That pixel's noise value is added to each of its color
channels, which at that point lie in the range [0,1]. -->
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
<optical_frame_id>front_camera</optical_frame_id>
<camera_info_topic>camera/camera_info</camera_info_topic>
</camera>
<always_on>true</always_on>
<update_rate>15</update_rate>
<visualize>true</visualize>
<topic>camera/image</topic>
</sensor>
</gazebo>
</xacro:if>
</xacro:if>
</robot>

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cmake_minimum_required(VERSION 3.8)
project(gz_quadruped_hardware)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
# Default to C11
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 11)
endif()
# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
endif()
# Compiler options
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# Find dependencies
find_package(ament_cmake REQUIRED)
find_package(ament_index_cpp REQUIRED)
find_package(controller_manager REQUIRED)
find_package(hardware_interface REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(yaml_cpp_vendor REQUIRED)
find_package(gz_sim_vendor REQUIRED)
find_package(gz-sim REQUIRED)
find_package(gz_plugin_vendor REQUIRED)
find_package(gz-plugin REQUIRED)
include_directories(include)
add_library(${PROJECT_NAME}-system SHARED
src/gz_quadruped_plugin.cpp
)
target_link_libraries(${PROJECT_NAME}-system
gz-sim::gz-sim
gz-plugin::register
)
ament_target_dependencies(${PROJECT_NAME}-system
ament_index_cpp
controller_manager
hardware_interface
pluginlib
rclcpp
yaml_cpp_vendor
rclcpp_lifecycle
)
#########
add_library(gz_quadruped_plugins SHARED
src/gz_system.cpp
)
ament_target_dependencies(gz_quadruped_plugins
rclcpp_lifecycle
hardware_interface
rclcpp
)
target_link_libraries(gz_quadruped_plugins
gz-sim::gz-sim
)
## Install
install(TARGETS
gz_quadruped_plugins
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
install(DIRECTORY
include/
DESTINATION include
)
# Testing and linting
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
ament_export_include_directories(include)
ament_export_libraries(${PROJECT_NAME}-system gz_quadruped_plugins)
# Install directories
install(TARGETS ${PROJECT_NAME}-system
DESTINATION lib
)
pluginlib_export_plugin_description_file(gz_quadruped_hardware gz_quadruped_hardware.xml)
# Setup the project
ament_package()

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10
hardwares/gz_quadruped_hardware/gz_quadruped_hardware.xml Normal file
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<library path="gz_quadruped_plugins">
<class
name="gz_quadruped_hardware/GazeboSimSystem"
type="gz_quadruped_hardware::GazeboSimSystem"
base_class_type="gz_quadruped_hardware::GazeboSimSystemInterface">
<description>
Gazebo ros2_control plugin for quadruped robot.
</description>
</class>
</library>

57
hardwares/gz_quadruped_hardware/include/gz_quadruped_hardware/gz_quadruped_plugin.hpp Normal file
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// Copyright 2021 Open Source Robotics Foundation, Inc.
//
// 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.
#pragma once
#include <memory>
#include <gz/sim/System.hh>
namespace sim = gz::sim;
namespace gz_quadruped_hardware {
// Forward declarations.
class GazeboSimQuadrupedPluginPrivate;
class GazeboSimQuadrupedPlugin
: public sim::System,
public sim::ISystemConfigure,
public sim::ISystemPreUpdate,
public sim::ISystemPostUpdate {
public:
/// \brief Constructor
GazeboSimQuadrupedPlugin();
/// \brief Destructor
~GazeboSimQuadrupedPlugin() override;
// Documentation inherited
void Configure(
const sim::Entity &_entity,
const std::shared_ptr<const sdf::Element> &_sdf,
sim::EntityComponentManager &_ecm,
sim::EventManager &_eventMgr) override;
// Documentation inherited
void PreUpdate(
const sim::UpdateInfo &_info,
sim::EntityComponentManager &_ecm) override;
void PostUpdate(
const sim::UpdateInfo &_info,
const sim::EntityComponentManager &_ecm) override;
private:
/// \brief Private data pointer.
std::unique_ptr<GazeboSimQuadrupedPluginPrivate> dataPtr;
};
} // namespace gz_ros2_control

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// Copyright 2021 Open Source Robotics Foundation, Inc.
//
// 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.
#pragma once
#include <map>
#include <memory>
#include <string>
#include <vector>
#include "gz_quadruped_hardware/gz_system_interface.hpp"
#include "rclcpp_lifecycle/state.hpp"
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
namespace gz_quadruped_hardware {
using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
// Forward declaration
class GazeboSimSystemPrivate;
// These class must inherit `gz_ros2_control::GazeboSimSystemInterface` which implements a
// simulated `ros2_control` `hardware_interface::SystemInterface`.
class GazeboSimSystem final : public GazeboSimSystemInterface {
public:
// Documentation Inherited
CallbackReturn on_init(const hardware_interface::HardwareInfo &system_info)
override;
CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override;
// Documentation Inherited
std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
// Documentation Inherited
std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
// Documentation Inherited
CallbackReturn on_activate(const rclcpp_lifecycle::State &previous_state) override;
// Documentation Inherited
CallbackReturn on_deactivate(const rclcpp_lifecycle::State &previous_state) override;
// Documentation Inherited
hardware_interface::return_type read(
const rclcpp::Time &time,
const rclcpp::Duration &period) override;
// Documentation Inherited
hardware_interface::return_type write(
const rclcpp::Time &time,
const rclcpp::Duration &period) override;
// Documentation Inherited
bool initSim(
rclcpp::Node::SharedPtr &model_nh,
std::map<std::string, sim::Entity> &joints,
const hardware_interface::HardwareInfo &hardware_info,
sim::EntityComponentManager &_ecm,
unsigned int update_rate) override;
private:
// Register a sensor (for now just IMUs)
// \param[in] hardware_info hardware information where the data of
// the sensors is extract.
void registerSensors(
const hardware_interface::HardwareInfo &hardware_info);
/// \brief Private data class
std::unique_ptr<GazeboSimSystemPrivate> dataPtr;
};
} // namespace gz_ros2_control

125
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// Copyright 2021 Open Source Robotics Foundation, Inc.
//
// 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.
#pragma once
#include <map>
#include <memory>
#include <string>
#include <gz/sim/System.hh>
namespace sim = gz::sim;
#include <hardware_interface/system_interface.hpp>
#include <rclcpp/rclcpp.hpp>
namespace gz_quadruped_hardware {
/// \brief This class allows us to handle flags easily, instead of using strings
///
/// For example
/// enum ControlMethod_
/// {
/// NONE = 0,
/// POSITION = (1 << 0),
/// VELOCITY = (1 << 1),
/// EFFORT = (1 << 2),
/// };
/// typedef SafeEnum<enum ControlMethod_> ControlMethod;
///
/// ControlMethod foo;
/// foo |= POSITION // Foo has the position flag active
/// foo & POSITION -> True // Check if position is active in the flag
/// foo & VELOCITY -> False // Check if velocity is active in the flag
template<class ENUM, class UNDERLYING = typename std::underlying_type<ENUM>::type>
class SafeEnum {
public:
SafeEnum()
: mFlags(0) {
}
explicit SafeEnum(ENUM singleFlag)
: mFlags(singleFlag) {
}
SafeEnum(const SafeEnum &original)
: mFlags(original.mFlags) {
}
SafeEnum &operator|=(ENUM addValue) {
mFlags |= addValue;
return *this;
}
SafeEnum operator|(ENUM addValue) {
SafeEnum result(*this);
result |= addValue;
return result;
}
SafeEnum &operator&=(ENUM maskValue) {
mFlags &= maskValue;
return *this;
}
SafeEnum operator&(ENUM maskValue) {
SafeEnum result(*this);
result &= maskValue;
return result;
}
SafeEnum operator~() {
SafeEnum result(*this);
result.mFlags = ~result.mFlags;
return result;
}
explicit operator bool() { return mFlags != 0; }
protected:
UNDERLYING mFlags;
};
// SystemInterface provides API-level access to read and command joint properties.
class GazeboSimSystemInterface
: public hardware_interface::SystemInterface {
public:
/// \brief Initialize the system interface
/// param[in] model_nh Pointer to the ros2 node
/// param[in] joints Map with the name of the joint as the key and the value is
/// related with the entity in Gazebo
/// param[in] hardware_info structure with data from URDF.
/// param[in] _ecm Entity-component manager.
/// param[in] update_rate controller update rate
virtual bool initSim(
rclcpp::Node::SharedPtr &model_nh,
std::map<std::string, sim::Entity> &joints,
const hardware_interface::HardwareInfo &hardware_info,
sim::EntityComponentManager &_ecm,
unsigned int update_rate) = 0;
// Methods used to control a joint.
enum ControlMethod_ {
NONE = 0,
POSITION = (1 << 0),
VELOCITY = (1 << 1),
EFFORT = (1 << 2),
};
typedef SafeEnum<ControlMethod_> ControlMethod;
protected:
rclcpp::Node::SharedPtr nh_;
};
} // namespace gz_ros2_control

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hardwares/gz_quadruped_hardware/package.xml Normal file
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<?xml version="1.0"?>
<package format="3">
<name>gz_quadruped_hardware</name>
<version>2.0.6</version>
<description>Gazebo ros2_control package for quadruped robot.</description>
<maintainer email="alejandro@openrobotics.com">Alejandro Hernández</maintainer>
<maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
<author>Alejandro Hernández</author>
<license>Apache 2</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>ament_index_cpp</depend>
<!-- default version to use in official ROS 2 packages is Gazebo Harmonic for ROS 2 Rolling -->
<depend>gz_sim_vendor</depend>
<depend>gz_plugin_vendor</depend>
<depend>pluginlib</depend>
<depend>rclcpp</depend>
<depend>yaml_cpp_vendor</depend>
<depend>rclcpp_lifecycle</depend>
<depend>hardware_interface</depend>
<depend>controller_manager</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

522
hardwares/gz_quadruped_hardware/src/gz_quadruped_plugin.cpp Normal file
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// Copyright 2021 Open Source Robotics Foundation, Inc.
//
// 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.
#include <unistd.h>
#include <chrono>
#include <map>
#include <memory>
#include <mutex>
#include <string>
#include <thread>
#include <utility>
#include <vector>
#include <gz/sim/components/Joint.hh>
#include <gz/sim/components/JointType.hh>
#include <gz/sim/components/Name.hh>
#include <gz/sim/components/ParentEntity.hh>
#include <gz/sim/components/World.hh>
#include <gz/sim/Model.hh>
#include <gz/plugin/Register.hh>
#include <controller_manager/controller_manager.hpp>
#include <hardware_interface/resource_manager.hpp>
#include <hardware_interface/component_parser.hpp>
#include <hardware_interface/types/hardware_interface_type_values.hpp>
#include <pluginlib/class_loader.hpp>
#include <rclcpp/rclcpp.hpp>
#include "gz_quadruped_hardware/gz_quadruped_plugin.hpp"
#include "gz_quadruped_hardware/gz_system.hpp"
namespace gz_quadruped_hardware {
class GZResourceManager : public hardware_interface::ResourceManager {
public:
GZResourceManager(
rclcpp::Node::SharedPtr &node,
sim::EntityComponentManager &ecm,
std::map<std::string, sim::Entity> enabledJoints)
: hardware_interface::ResourceManager(
node->get_node_clock_interface(), node->get_node_logging_interface()),
gz_system_loader_("gz_quadruped_hardware", "gz_quadruped_hardware::GazeboSimSystemInterface"),
logger_(node->get_logger().get_child("GZResourceManager")) {
node_ = node;
ecm_ = &ecm;
enabledJoints_ = enabledJoints;
}
GZResourceManager(const GZResourceManager &) = delete;
// Called from Controller Manager when robot description is initialized from callback
bool load_and_initialize_components(
const std::string &urdf,
unsigned int update_rate) override {
components_are_loaded_and_initialized_ = true;
const auto hardware_info = hardware_interface::parse_control_resources_from_urdf(urdf);
for (const auto &individual_hardware_info: hardware_info) {
std::string robot_hw_sim_type_str_ = individual_hardware_info.hardware_plugin_name;
RCLCPP_DEBUG(
logger_, "Load hardware interface %s ...",
robot_hw_sim_type_str_.c_str());
// Load hardware
std::unique_ptr<GazeboSimSystemInterface> gzSimSystem;
std::scoped_lock guard(resource_interfaces_lock_, claimed_command_interfaces_lock_);
try {
gzSimSystem = std::unique_ptr<GazeboSimSystemInterface>(
gz_system_loader_.createUnmanagedInstance(robot_hw_sim_type_str_));
} catch (pluginlib::PluginlibException &ex) {
RCLCPP_ERROR(
logger_,
"The plugin failed to load for some reason. Error: %s\n",
ex.what());
continue;
}
// initialize simulation requirements
if (!gzSimSystem->initSim(
node_,
enabledJoints_,
individual_hardware_info,
*ecm_,
update_rate)) {
RCLCPP_FATAL(
logger_, "Could not initialize robot simulation interface");
components_are_loaded_and_initialized_ = false;
break;
}
RCLCPP_DEBUG(
logger_, "Initialized robot simulation interface %s!",
robot_hw_sim_type_str_.c_str());
// initialize hardware
import_component(std::move(gzSimSystem), individual_hardware_info);
}
return components_are_loaded_and_initialized_;
}
private:
std::shared_ptr<rclcpp::Node> node_;
sim::EntityComponentManager *ecm_;
std::map<std::string, sim::Entity> enabledJoints_;
/// \brief Interface loader
pluginlib::ClassLoader<GazeboSimSystemInterface> gz_system_loader_;
rclcpp::Logger logger_;
};
//////////////////////////////////////////////////
class GazeboSimQuadrupedPluginPrivate {
public:
/// \brief Get a list of enabled, unique, 1-axis joints of the model. If no
/// joint names are specified in the plugin configuration, all valid 1-axis
/// joints are returned
/// \param[in] _entity Entity of the model that the plugin is being
/// configured for
/// \param[in] _ecm Gazebo Entity Component Manager
/// \return List of entities containing all enabled joints
std::map<std::string, sim::Entity> GetEnabledJoints(
const sim::Entity &_entity,
sim::EntityComponentManager &_ecm) const;
/// \brief Entity ID for sensor within Gazebo.
sim::Entity entity_;
/// \brief Node Handles
std::shared_ptr<rclcpp::Node> node_{nullptr};
/// \brief Thread where the executor will spin
std::thread thread_executor_spin_;
/// \brief Executor to spin the controller
rclcpp::executors::MultiThreadedExecutor::SharedPtr executor_;
/// \brief Timing
rclcpp::Duration control_period_ = rclcpp::Duration(1, 0);
/// \brief Controller manager
std::shared_ptr<controller_manager::ControllerManager>
controller_manager_{nullptr};
/// \brief Last time the update method was called
rclcpp::Time last_update_sim_time_ros_ =
rclcpp::Time((int64_t) 0, RCL_ROS_TIME);
/// \brief ECM pointer
sim::EntityComponentManager *ecm{nullptr};
/// \brief controller update rate
int update_rate;
};
//////////////////////////////////////////////////
std::map<std::string, sim::Entity>
GazeboSimQuadrupedPluginPrivate::GetEnabledJoints(
const sim::Entity &_entity,
sim::EntityComponentManager &_ecm) const {
std::map<std::string, sim::Entity> output;
std::vector<std::string> enabledJoints;
// Get all available joints
auto jointEntities = _ecm.ChildrenByComponents(_entity, sim::components::Joint());
// Iterate over all joints and verify whether they can be enabled or not
for (const auto &jointEntity: jointEntities) {
const auto jointName = _ecm.Component<sim::components::Name>(
jointEntity)->Data();
// Make sure the joint type is supported, i.e. it has exactly one
// actuated axis
const auto *jointType = _ecm.Component<sim::components::JointType>(jointEntity);
switch (jointType->Data()) {
case sdf::JointType::PRISMATIC:
case sdf::JointType::REVOLUTE:
case sdf::JointType::CONTINUOUS:
case sdf::JointType::GEARBOX: {
// Supported joint type
break;
}
case sdf::JointType::FIXED: {
RCLCPP_INFO(
node_->get_logger(),
"[gz_quadruped_hardware] Fixed joint [%s] (Entity=%lu)] is skipped",
jointName.c_str(), jointEntity);
continue;
}
case sdf::JointType::REVOLUTE2:
case sdf::JointType::SCREW:
case sdf::JointType::BALL:
case sdf::JointType::UNIVERSAL: {
RCLCPP_WARN(
node_->get_logger(),
"[gz_quadruped_hardware] Joint [%s] (Entity=%lu)] is of unsupported type."
" Only joints with a single axis are supported.",
jointName.c_str(), jointEntity);
continue;
}
default: {
RCLCPP_WARN(
node_->get_logger(),
"[gz_quadruped_hardware] Joint [%s] (Entity=%lu)] is of unknown type",
jointName.c_str(), jointEntity);
continue;
}
}
output[jointName] = jointEntity;
}
return output;
}
//////////////////////////////////////////////////
GazeboSimQuadrupedPlugin::GazeboSimQuadrupedPlugin()
: dataPtr(std::make_unique<GazeboSimQuadrupedPluginPrivate>()) {
}
//////////////////////////////////////////////////
GazeboSimQuadrupedPlugin::~GazeboSimQuadrupedPlugin() {
// Stop controller manager thread
if (!this->dataPtr->controller_manager_) {
return;
}
this->dataPtr->executor_->remove_node(this->dataPtr->controller_manager_);
this->dataPtr->executor_->cancel();
this->dataPtr->thread_executor_spin_.join();
}
//////////////////////////////////////////////////
void GazeboSimQuadrupedPlugin::Configure(
const sim::Entity &_entity,
const std::shared_ptr<const sdf::Element> &_sdf,
sim::EntityComponentManager &_ecm,
sim::EventManager &) {
rclcpp::Logger logger = rclcpp::get_logger("GazeboSimROS2ControlPlugin");
// Make sure the controller is attached to a valid model
const auto model = sim::Model(_entity);
if (!model.Valid(_ecm)) {
RCLCPP_ERROR(
logger,
"[Gazebo ROS 2 Control] Failed to initialize because [%s] (Entity=%lu)] is not a model."
"Please make sure that Gazebo ROS 2 Control is attached to a valid model.",
model.Name(_ecm).c_str(), _entity);
return;
}
// Get params from SDF
auto param_file_name = _sdf->Get<std::string>("parameters");
if (param_file_name.empty()) {
RCLCPP_ERROR(
logger,
"Gazebo quadruped ros2 control found an empty parameters file. Failed to initialize.");
return;
}
// Get params from SDF
std::vector<std::string> arguments = {"--ros-args"};
auto sdfPtr = const_cast<sdf::Element *>(_sdf.get());
sdf::ElementPtr argument_sdf = sdfPtr->GetElement("parameters");
while (argument_sdf) {
std::string argument = argument_sdf->Get<std::string>();
arguments.push_back(RCL_PARAM_FILE_FLAG);
arguments.push_back(argument);
argument_sdf = argument_sdf->GetNextElement("parameters");
}
// Get controller manager node name
std::string controllerManagerNodeName{"controller_manager"};
if (sdfPtr->HasElement("controller_manager_name")) {
controllerManagerNodeName = sdfPtr->GetElement("controller_manager_name")->Get<std::string>();
}
std::string ns = "/";
// Hold joints if no control mode is active?
bool hold_joints = true; // default
if (sdfPtr->HasElement("hold_joints")) {
hold_joints =
sdfPtr->GetElement("hold_joints")->Get<bool>();
}
double position_proportional_gain = 0.1; // default
if (sdfPtr->HasElement("position_proportional_gain")) {
position_proportional_gain =
sdfPtr->GetElement("position_proportional_gain")->Get<double>();
}
if (sdfPtr->HasElement("ros")) {
sdf::ElementPtr sdfRos = sdfPtr->GetElement("ros");
// Set namespace if tag is present
if (sdfRos->HasElement("namespace")) {
ns = sdfRos->GetElement("namespace")->Get<std::string>();
// prevent exception: namespace must be absolute, it must lead with a '/'
if (ns.empty() || ns[0] != '/') {
ns = '/' + ns;
}
}
// Get list of remapping rules from SDF
if (sdfRos->HasElement("remapping")) {
sdf::ElementPtr argument_sdf = sdfRos->GetElement("remapping");
arguments.push_back(RCL_ROS_ARGS_FLAG);
while (argument_sdf) {
auto argument = argument_sdf->Get<std::string>();
arguments.push_back(RCL_REMAP_FLAG);
arguments.push_back(argument);
argument_sdf = argument_sdf->GetNextElement("remapping");
}
}
}
std::vector<const char *> argv;
for (const auto &arg: arguments) {
argv.push_back(arg.data());
}
// Create a default context, if not already
if (!rclcpp::ok()) {
init(
static_cast<int>(argv.size()), argv.data(), rclcpp::InitOptions(),
rclcpp::SignalHandlerOptions::None);
}
std::string node_name = "gz_quadruped";
this->dataPtr->node_ = rclcpp::Node::make_shared(node_name, ns);
this->dataPtr->executor_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
this->dataPtr->executor_->add_node(this->dataPtr->node_);
auto spin = [this]() {
this->dataPtr->executor_->spin();
};
this->dataPtr->thread_executor_spin_ = std::thread(spin);
RCLCPP_DEBUG_STREAM(
this->dataPtr->node_->get_logger(), "[Gazebo Quadruped ROS2 Control] Setting up controller for [" <<
model.Name(_ecm) << "] (Entity=" << _entity << ")].");
// Get list of enabled joints
auto enabledJoints = this->dataPtr->GetEnabledJoints(
_entity,
_ecm);
if (enabledJoints.size() == 0) {
RCLCPP_DEBUG_STREAM(
this->dataPtr->node_->get_logger(),
"[Gazebo Quadruped ROS2 Control] There are no available Joints.");
return;
}
try {
this->dataPtr->node_->declare_parameter("hold_joints", rclcpp::ParameterValue(hold_joints));
} catch (const rclcpp::exceptions::ParameterAlreadyDeclaredException &e) {
RCLCPP_ERROR(
this->dataPtr->node_->get_logger(), "Parameter 'hold_joints' has already been declared, %s",
e.what());
} catch (const rclcpp::exceptions::InvalidParametersException &e) {
RCLCPP_ERROR(
this->dataPtr->node_->get_logger(), "Parameter 'hold_joints' has invalid name, %s",
e.what());
} catch (const rclcpp::exceptions::InvalidParameterValueException &e) {
RCLCPP_ERROR(
this->dataPtr->node_->get_logger(), "Parameter 'hold_joints' value is invalid, %s",
e.what());
} catch (const rclcpp::exceptions::InvalidParameterTypeException &e) {
RCLCPP_ERROR(
this->dataPtr->node_->get_logger(), "Parameter 'hold_joints' value has wrong type, %s",
e.what());
}
try {
this->dataPtr->node_->declare_parameter(
"position_proportional_gain",
rclcpp::ParameterValue(position_proportional_gain));
} catch (const rclcpp::exceptions::ParameterAlreadyDeclaredException &e) {
RCLCPP_ERROR(
this->dataPtr->node_->get_logger(),
"Parameter 'position_proportional_gain' has already been declared, %s",
e.what());
} catch (const rclcpp::exceptions::InvalidParametersException &e) {
RCLCPP_ERROR(
this->dataPtr->node_->get_logger(),
"Parameter 'position_proportional_gain' has invalid name, %s",
e.what());
} catch (const rclcpp::exceptions::InvalidParameterValueException &e) {
RCLCPP_ERROR(
this->dataPtr->node_->get_logger(),
"Parameter 'position_proportional_gain' value is invalid, %s",
e.what());
} catch (const rclcpp::exceptions::InvalidParameterTypeException &e) {
RCLCPP_ERROR(
this->dataPtr->node_->get_logger(),
"Parameter 'position_proportional_gain' value has wrong type, %s",
e.what());
}
std::unique_ptr<hardware_interface::ResourceManager> resource_manager_ =
std::make_unique<GZResourceManager>(this->dataPtr->node_, _ecm, enabledJoints);
// Create the controller manager
RCLCPP_INFO(this->dataPtr->node_->get_logger(), "Loading controller_manager");
rclcpp::NodeOptions options = controller_manager::get_cm_node_options();
arguments.push_back("-r");
arguments.push_back("__node:=" + controllerManagerNodeName);
arguments.push_back("-r");
arguments.push_back("__ns:=" + ns);
options.arguments(arguments);
this->dataPtr->controller_manager_.reset(
new controller_manager::ControllerManager(
std::move(resource_manager_),
this->dataPtr->executor_,
controllerManagerNodeName,
this->dataPtr->node_->get_namespace(), options));
this->dataPtr->executor_->add_node(this->dataPtr->controller_manager_);
this->dataPtr->update_rate = this->dataPtr->controller_manager_->get_update_rate();
this->dataPtr->control_period_ = rclcpp::Duration(
std::chrono::duration_cast<std::chrono::nanoseconds>(
std::chrono::duration<double>(1.0 / static_cast<double>(this->dataPtr->update_rate))));
// Force setting of use_sim_time parameter
this->dataPtr->controller_manager_->set_parameter(
rclcpp::Parameter("use_sim_time", rclcpp::ParameterValue(true)));
// Wait for CM to receive robot description from the topic and then initialize Resource Manager
while (!this->dataPtr->controller_manager_->is_resource_manager_initialized()) {
RCLCPP_WARN(
this->dataPtr->node_->get_logger(),
"Waiting RM to load and initialize hardware...");
std::this_thread::sleep_for(std::chrono::microseconds(2000000));
}
this->dataPtr->entity_ = _entity;
}
//////////////////////////////////////////////////
void GazeboSimQuadrupedPlugin::PreUpdate(
const sim::UpdateInfo &_info,
sim::EntityComponentManager & /*_ecm*/) {
if (!this->dataPtr->controller_manager_) {
return;
}
static bool warned{false};
if (!warned) {
rclcpp::Duration gazebo_period(_info.dt);
// Check the period against the simulation period
if (this->dataPtr->control_period_ < _info.dt) {
RCLCPP_ERROR_STREAM(
this->dataPtr->node_->get_logger(),
"Desired controller update period (" << this->dataPtr->control_period_.seconds() <<
" s) is faster than the gazebo simulation period (" <<
gazebo_period.seconds() << " s).");
} else if (this->dataPtr->control_period_ > gazebo_period) {
RCLCPP_WARN_STREAM(
this->dataPtr->node_->get_logger(),
" Desired controller update period (" << this->dataPtr->control_period_.seconds() <<
" s) is slower than the gazebo simulation period (" <<
gazebo_period.seconds() << " s).");
}
warned = true;
}
const rclcpp::Time sim_time_ros(std::chrono::duration_cast<std::chrono::nanoseconds>(
_info.simTime).count(), RCL_ROS_TIME);
const rclcpp::Duration sim_period = sim_time_ros - this->dataPtr->last_update_sim_time_ros_;
// Always set commands on joints, otherwise at low control frequencies the joints tremble
// as they are updated at a fraction of gazebo sim time
this->dataPtr->controller_manager_->write(sim_time_ros, sim_period);
}
//////////////////////////////////////////////////
void GazeboSimQuadrupedPlugin::PostUpdate(
const sim::UpdateInfo &_info,
const sim::EntityComponentManager & /*_ecm*/) {
if (!this->dataPtr->controller_manager_) {
return;
}
// Get the simulation time and period
const rclcpp::Time sim_time_ros(std::chrono::duration_cast<std::chrono::nanoseconds>(
_info.simTime).count(), RCL_ROS_TIME);
const rclcpp::Duration sim_period = sim_time_ros - this->dataPtr->last_update_sim_time_ros_;
if (sim_period >= this->dataPtr->control_period_) {
this->dataPtr->last_update_sim_time_ros_ = sim_time_ros;
auto gz_controller_manager =
std::dynamic_pointer_cast<GazeboSimSystemInterface>(
this->dataPtr->controller_manager_);
this->dataPtr->controller_manager_->read(sim_time_ros, sim_period);
this->dataPtr->controller_manager_->update(sim_time_ros, sim_period);
}
}
} // namespace gz_quadruped_hardware
GZ_ADD_PLUGIN(
gz_quadruped_hardware::GazeboSimQuadrupedPlugin,
gz::sim::System,
gz_quadruped_hardware::GazeboSimQuadrupedPlugin::ISystemConfigure,
gz_quadruped_hardware::GazeboSimQuadrupedPlugin::ISystemPreUpdate,
gz_quadruped_hardware::GazeboSimQuadrupedPlugin::ISystemPostUpdate)

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hardwares/gz_quadruped_hardware/src/gz_system.cpp Normal file
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// Copyright 2021 Open Source Robotics Foundation, Inc.
//
// 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.
#include "gz_quadruped_hardware/gz_system.hpp"
#include <gz/msgs/imu.pb.h>
#include <limits>
#include <map>
#include <memory>
#include <string>
#include <utility>
#include <vector>
#include <gz/physics/Geometry.hh>
#include <gz/sim/components/AngularVelocity.hh>
#include <gz/sim/components/Imu.hh>
#include <gz/sim/components/JointAxis.hh>
#include <gz/sim/components/JointForceCmd.hh>
#include <gz/sim/components/JointPosition.hh>
#include <gz/sim/components/JointPositionReset.hh>
#include <gz/sim/components/JointTransmittedWrench.hh>
#include <gz/sim/components/JointType.hh>
#include <gz/sim/components/JointVelocityCmd.hh>
#include <gz/sim/components/JointVelocity.hh>
#include <gz/sim/components/JointVelocityReset.hh>
#include <gz/sim/components/Name.hh>
#include <gz/sim/components/ParentEntity.hh>
#include <gz/sim/components/Sensor.hh>
#include <gz/transport/Node.hh>
#define GZ_TRANSPORT_NAMESPACE gz::transport::
#define GZ_MSGS_NAMESPACE gz::msgs::
#include <hardware_interface/hardware_info.hpp>
#include <hardware_interface/lexical_casts.hpp>
#include <hardware_interface/types/hardware_interface_type_values.hpp>
struct jointData {
/// \brief Joint's names.
std::string name;
/// \brief Joint's type.
sdf::JointType joint_type;
/// \brief Joint's axis.
sdf::JointAxis joint_axis;
/// \brief Current joint position
double joint_position;
/// \brief Current joint velocity
double joint_velocity;
/// \brief Current joint effort
double joint_effort;
/// \brief Current cmd joint position
double joint_position_cmd;
/// \brief Current cmd joint velocity
double joint_velocity_cmd;
/// \brief Current cmd joint effort
double joint_effort_cmd;
double joint_kp_cmd;
double joint_kd_cmd;
/// \brief flag if joint is actuated (has command interfaces) or passive
bool is_actuated;
/// \brief handles to the joints from within Gazebo
sim::Entity sim_joint;
/// \brief Control method defined in the URDF for each joint.
gz_quadruped_hardware::GazeboSimSystemInterface::ControlMethod joint_control_method;
};
class ImuData {
public:
/// \brief imu's name.
std::string name{};
/// \brief imu's topic name.
std::string topicName{};
/// \brief handles to the imu from within Gazebo
sim::Entity sim_imu_sensors_ = sim::kNullEntity;
/// \brief An array per IMU with 4 orientation, 3 angular velocity and 3 linear acceleration
std::array<double, 10> imu_sensor_data_;
/// \brief callback to get the IMU topic values
void OnIMU(const GZ_MSGS_NAMESPACE IMU &_msg);
};
void ImuData::OnIMU(const GZ_MSGS_NAMESPACE IMU &_msg) {
this->imu_sensor_data_[0] = _msg.orientation().x();
this->imu_sensor_data_[1] = _msg.orientation().y();
this->imu_sensor_data_[2] = _msg.orientation().z();
this->imu_sensor_data_[3] = _msg.orientation().w();
this->imu_sensor_data_[4] = _msg.angular_velocity().x();
this->imu_sensor_data_[5] = _msg.angular_velocity().y();
this->imu_sensor_data_[6] = _msg.angular_velocity().z();
this->imu_sensor_data_[7] = _msg.linear_acceleration().x();
this->imu_sensor_data_[8] = _msg.linear_acceleration().y();
this->imu_sensor_data_[9] = _msg.linear_acceleration().z();
}
class gz_quadruped_hardware::GazeboSimSystemPrivate {
public:
GazeboSimSystemPrivate() = default;
~GazeboSimSystemPrivate() = default;
/// \brief Degrees od freedom.
size_t n_dof_;
/// \brief last time the write method was called.
rclcpp::Time last_update_sim_time_ros_;
/// \brief vector with the joint's names.
std::vector<jointData> joints_;
/// \brief vector with the imus .
std::vector<std::shared_ptr<ImuData> > imus_;
/// \brief state interfaces that will be exported to the Resource Manager
std::vector<hardware_interface::StateInterface> state_interfaces_;
/// \brief command interfaces that will be exported to the Resource Manager
std::vector<hardware_interface::CommandInterface> command_interfaces_;
/// \brief Entity component manager, ECM shouldn't be accessed outside those
/// methods, otherwise the app will crash
sim::EntityComponentManager *ecm;
/// \brief controller update rate
unsigned int update_rate;
/// \brief Gazebo communication node.
GZ_TRANSPORT_NAMESPACE Node node;
/// \brief Gain which converts position error to a velocity command
double position_proportional_gain_;
};
namespace gz_quadruped_hardware {
bool GazeboSimSystem::initSim(
rclcpp::Node::SharedPtr &model_nh,
std::map<std::string, sim::Entity> &enableJoints,
const hardware_interface::HardwareInfo &hardware_info,
sim::EntityComponentManager &_ecm,
unsigned int update_rate) {
this->dataPtr = std::make_unique<GazeboSimSystemPrivate>();
this->dataPtr->last_update_sim_time_ros_ = rclcpp::Time();
this->nh_ = model_nh;
this->dataPtr->ecm = &_ecm;
this->dataPtr->n_dof_ = hardware_info.joints.size();
this->dataPtr->update_rate = update_rate;
RCLCPP_DEBUG(this->nh_->get_logger(), "n_dof_ %lu", this->dataPtr->n_dof_);
this->dataPtr->joints_.resize(this->dataPtr->n_dof_);
try {
this->dataPtr->position_proportional_gain_ =
this->nh_->get_parameter("position_proportional_gain").as_double();
} catch (rclcpp::exceptions::ParameterUninitializedException &ex) {
RCLCPP_ERROR(
this->nh_->get_logger(),
"Parameter 'position_proportional_gain' not initialized, with error %s", ex.what());
RCLCPP_WARN_STREAM(
this->nh_->get_logger(),
"Using default value: " << this->dataPtr->position_proportional_gain_);
} catch (rclcpp::exceptions::ParameterNotDeclaredException &ex) {
RCLCPP_ERROR(
this->nh_->get_logger(),
"Parameter 'position_proportional_gain' not declared, with error %s", ex.what());
RCLCPP_WARN_STREAM(
this->nh_->get_logger(),
"Using default value: " << this->dataPtr->position_proportional_gain_);
} catch (rclcpp::ParameterTypeException &ex) {
RCLCPP_ERROR(
this->nh_->get_logger(),
"Parameter 'position_proportional_gain' has wrong type: %s", ex.what());
RCLCPP_WARN_STREAM(
this->nh_->get_logger(),
"Using default value: " << this->dataPtr->position_proportional_gain_);
}
RCLCPP_INFO_STREAM(
this->nh_->get_logger(),
"The position_proportional_gain has been set to: " <<
this->dataPtr->position_proportional_gain_);
if (this->dataPtr->n_dof_ == 0) {
RCLCPP_ERROR_STREAM(this->nh_->get_logger(), "There is no joint available");
return false;
}
for (unsigned int j = 0; j < this->dataPtr->n_dof_; j++) {
auto &joint_info = hardware_info.joints[j];
std::string joint_name = this->dataPtr->joints_[j].name = joint_info.name;
auto it_joint = enableJoints.find(joint_name);
if (it_joint == enableJoints.end()) {
RCLCPP_WARN_STREAM(
this->nh_->get_logger(), "Skipping joint in the URDF named '" << joint_name <<
"' which is not in the gazebo model.");
continue;
}
sim::Entity simjoint = enableJoints[joint_name];
this->dataPtr->joints_[j].sim_joint = simjoint;
this->dataPtr->joints_[j].joint_type = _ecm.Component<sim::components::JointType>(
simjoint)->Data();
this->dataPtr->joints_[j].joint_axis = _ecm.Component<sim::components::JointAxis>(
simjoint)->Data();
// Create joint position component if one doesn't exist
if (!_ecm.EntityHasComponentType(
simjoint,
sim::components::JointPosition().TypeId())) {
_ecm.CreateComponent(simjoint, sim::components::JointPosition());
}
// Create joint velocity component if one doesn't exist
if (!_ecm.EntityHasComponentType(
simjoint,
sim::components::JointVelocity().TypeId())) {
_ecm.CreateComponent(simjoint, sim::components::JointVelocity());
}
// Create joint transmitted wrench component if one doesn't exist
if (!_ecm.EntityHasComponentType(
simjoint,
sim::components::JointTransmittedWrench().TypeId())) {
_ecm.CreateComponent(simjoint, sim::components::JointTransmittedWrench());
}
// Accept this joint and continue configuration
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "Loading joint: " << joint_name);
// check if joint is mimicked
auto it = std::find_if(
hardware_info.mimic_joints.begin(),
hardware_info.mimic_joints.end(),
[j](const hardware_interface::MimicJoint &mj) {
return mj.joint_index == j;
});
if (it != hardware_info.mimic_joints.end()) {
RCLCPP_INFO_STREAM(
this->nh_->get_logger(),
"Joint '" << joint_name << "'is mimicking joint '" <<
this->dataPtr->joints_[it->mimicked_joint_index].name <<
"' with multiplier: " << it->multiplier << " and offset: " << it->offset);
}
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\tState:");
auto get_initial_value =
[this, joint_name](const hardware_interface::InterfaceInfo &interface_info) {
double initial_value{0.0};
if (!interface_info.initial_value.empty()) {
try {
initial_value = hardware_interface::stod(interface_info.initial_value);
RCLCPP_INFO(this->nh_->get_logger(), "\t\t\t found initial value: %f", initial_value);
} catch (std::invalid_argument &) {
RCLCPP_ERROR_STREAM(
this->nh_->get_logger(),
"Failed converting initial_value string to real number for the joint "
<< joint_name
<< " and state interface " << interface_info.name
<< ". Actual value of parameter: " << interface_info.initial_value
<< ". Initial value will be set to 0.0");
throw std::invalid_argument("Failed converting initial_value string");
}
}
return initial_value;
};
double initial_position = std::numeric_limits<double>::quiet_NaN();
double initial_velocity = std::numeric_limits<double>::quiet_NaN();
double initial_effort = std::numeric_limits<double>::quiet_NaN();
// register the state handles
for (unsigned int i = 0; i < joint_info.state_interfaces.size(); ++i) {
if (joint_info.state_interfaces[i].name == "position") {
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t position");
this->dataPtr->state_interfaces_.emplace_back(
joint_name,
hardware_interface::HW_IF_POSITION,
&this->dataPtr->joints_[j].joint_position);
initial_position = get_initial_value(joint_info.state_interfaces[i]);
this->dataPtr->joints_[j].joint_position = initial_position;
}
if (joint_info.state_interfaces[i].name == "velocity") {
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t velocity");
this->dataPtr->state_interfaces_.emplace_back(
joint_name,
hardware_interface::HW_IF_VELOCITY,
&this->dataPtr->joints_[j].joint_velocity);
initial_velocity = get_initial_value(joint_info.state_interfaces[i]);
this->dataPtr->joints_[j].joint_velocity = initial_velocity;
}
if (joint_info.state_interfaces[i].name == "effort") {
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t effort");
this->dataPtr->state_interfaces_.emplace_back(
joint_name,
hardware_interface::HW_IF_EFFORT,
&this->dataPtr->joints_[j].joint_effort);
initial_effort = get_initial_value(joint_info.state_interfaces[i]);
this->dataPtr->joints_[j].joint_effort = initial_effort;
}
}
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\tCommand:");
// register the command handles
for (unsigned int i = 0; i < joint_info.command_interfaces.size(); ++i) {
if (joint_info.command_interfaces[i].name == "position") {
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t position");
this->dataPtr->command_interfaces_.emplace_back(
joint_name,
hardware_interface::HW_IF_POSITION,
&this->dataPtr->joints_[j].joint_position_cmd);
if (!std::isnan(initial_position)) {
this->dataPtr->joints_[j].joint_position_cmd = initial_position;
}
} else if (joint_info.command_interfaces[i].name == "velocity") {
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t velocity");
this->dataPtr->command_interfaces_.emplace_back(
joint_name,
hardware_interface::HW_IF_VELOCITY,
&this->dataPtr->joints_[j].joint_velocity_cmd);
if (!std::isnan(initial_velocity)) {
this->dataPtr->joints_[j].joint_velocity_cmd = initial_velocity;
}
} else if (joint_info.command_interfaces[i].name == "effort") {
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t effort");
this->dataPtr->command_interfaces_.emplace_back(
joint_name,
hardware_interface::HW_IF_EFFORT,
&this->dataPtr->joints_[j].joint_effort_cmd);
if (!std::isnan(initial_effort)) {
this->dataPtr->joints_[j].joint_effort_cmd = initial_effort;
}
} else if (joint_info.command_interfaces[i].name == "kp") {
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t kp");
this->dataPtr->command_interfaces_.emplace_back(
joint_name,
"kp",
&this->dataPtr->joints_[j].joint_kp_cmd);
this->dataPtr->joints_[j].joint_kp_cmd = 0.0;
} else if (joint_info.command_interfaces[i].name == "kd") {
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t kd");
this->dataPtr->command_interfaces_.emplace_back(
joint_name,
"kd",
&this->dataPtr->joints_[j].joint_kd_cmd);
this->dataPtr->joints_[j].joint_kd_cmd = 0.0;
}
// independently of existence of command interface set initial value if defined
if (!std::isnan(initial_position)) {
this->dataPtr->joints_[j].joint_position = initial_position;
this->dataPtr->ecm->CreateComponent(
this->dataPtr->joints_[j].sim_joint,
sim::components::JointPositionReset({initial_position}));
}
if (!std::isnan(initial_velocity)) {
this->dataPtr->joints_[j].joint_velocity = initial_velocity;
this->dataPtr->ecm->CreateComponent(
this->dataPtr->joints_[j].sim_joint,
sim::components::JointVelocityReset({initial_velocity}));
}
}
// check if joint is actuated (has command interfaces) or passive
this->dataPtr->joints_[j].is_actuated = (joint_info.command_interfaces.size() > 0);
}
registerSensors(hardware_info);
return true;
}
void GazeboSimSystem::registerSensors(
const hardware_interface::HardwareInfo &hardware_info) {
// Collect gazebo sensor handles
size_t n_sensors = hardware_info.sensors.size();
std::vector<hardware_interface::ComponentInfo> sensor_components_;
for (unsigned int j = 0; j < n_sensors; j++) {
hardware_interface::ComponentInfo component = hardware_info.sensors[j];
sensor_components_.push_back(component);
}
// This is split in two steps: Count the number and type of sensor and associate the interfaces
// So we have resize only once the structures where the data will be stored, and we can safely
// use pointers to the structures
this->dataPtr->ecm->Each<sim::components::Imu,
sim::components::Name>(
[&](const sim::Entity &_entity,
const sim::components::Imu *,
const sim::components::Name *_name) -> bool {
auto imuData = std::make_shared<ImuData>();
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "Loading sensor: " << _name->Data());
auto sensorTopicComp = this->dataPtr->ecm->Component<
sim::components::SensorTopic>(_entity);
if (sensorTopicComp) {
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "Topic name: " << sensorTopicComp->Data());
}
RCLCPP_INFO_STREAM(
this->nh_->get_logger(), "\tState:");
imuData->name = _name->Data();
imuData->sim_imu_sensors_ = _entity;
hardware_interface::ComponentInfo component;
for (auto &comp: sensor_components_) {
if (comp.name == _name->Data()) {
component = comp;
}
}
static const std::map<std::string, size_t> interface_name_map = {
{"orientation.x", 0},
{"orientation.y", 1},
{"orientation.z", 2},
{"orientation.w", 3},
{"angular_velocity.x", 4},
{"angular_velocity.y", 5},
{"angular_velocity.z", 6},
{"linear_acceleration.x", 7},
{"linear_acceleration.y", 8},
{"linear_acceleration.z", 9},
};
for (const auto &state_interface: component.state_interfaces) {
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t " << state_interface.name);
size_t data_index = interface_name_map.at(state_interface.name);
this->dataPtr->state_interfaces_.emplace_back(
imuData->name,
state_interface.name,
&imuData->imu_sensor_data_[data_index]);
}
this->dataPtr->imus_.push_back(imuData);
return true;
});
}
CallbackReturn
GazeboSimSystem::on_init(const hardware_interface::HardwareInfo &info) {
if (SystemInterface::on_init(info) != CallbackReturn::SUCCESS) {
return CallbackReturn::ERROR;
}
return CallbackReturn::SUCCESS;
}
CallbackReturn GazeboSimSystem::on_configure(
const rclcpp_lifecycle::State & /*previous_state*/) {
RCLCPP_INFO(
this->nh_->get_logger(), "System Successfully configured!");
return CallbackReturn::SUCCESS;
}
std::vector<hardware_interface::StateInterface>
GazeboSimSystem::export_state_interfaces() {
return std::move(this->dataPtr->state_interfaces_);
}
std::vector<hardware_interface::CommandInterface>
GazeboSimSystem::export_command_interfaces() {
return std::move(this->dataPtr->command_interfaces_);
}
CallbackReturn GazeboSimSystem::on_activate(const rclcpp_lifecycle::State &previous_state) {
return CallbackReturn::SUCCESS;
}
CallbackReturn GazeboSimSystem::on_deactivate(const rclcpp_lifecycle::State &previous_state) {
return CallbackReturn::SUCCESS;
}
hardware_interface::return_type GazeboSimSystem::read(
const rclcpp::Time & /*time*/,
const rclcpp::Duration & /*period*/) {
for (unsigned int i = 0; i < this->dataPtr->joints_.size(); ++i) {
if (this->dataPtr->joints_[i].sim_joint == sim::kNullEntity) {
continue;
}
// Get the joint velocity
const auto *jointVelocity =
this->dataPtr->ecm->Component<sim::components::JointVelocity>(
this->dataPtr->joints_[i].sim_joint);
// Get the joint force via joint transmitted wrench
const auto *jointWrench =
this->dataPtr->ecm->Component<sim::components::JointTransmittedWrench>(
this->dataPtr->joints_[i].sim_joint);
// Get the joint position
const auto *jointPositions =
this->dataPtr->ecm->Component<sim::components::JointPosition>(
this->dataPtr->joints_[i].sim_joint);
this->dataPtr->joints_[i].joint_position = jointPositions->Data()[0];
this->dataPtr->joints_[i].joint_velocity = jointVelocity->Data()[0];
gz::physics::Vector3d force_or_torque;
if (this->dataPtr->joints_[i].joint_type == sdf::JointType::PRISMATIC) {
force_or_torque = {
jointWrench->Data().force().x(),
jointWrench->Data().force().y(),
jointWrench->Data().force().z()
};
} else {
// REVOLUTE and CONTINUOUS
force_or_torque = {
jointWrench->Data().torque().x(),
jointWrench->Data().torque().y(),
jointWrench->Data().torque().z()
};
}
// Calculate the scalar effort along the joint axis
this->dataPtr->joints_[i].joint_effort = force_or_torque.dot(
gz::physics::Vector3d{
this->dataPtr->joints_[i].joint_axis.Xyz()[0],
this->dataPtr->joints_[i].joint_axis.Xyz()[1],
this->dataPtr->joints_[i].joint_axis.Xyz()[2]
});
}
for (unsigned int i = 0; i < this->dataPtr->imus_.size(); ++i) {
if (this->dataPtr->imus_[i]->topicName.empty()) {
auto sensorTopicComp = this->dataPtr->ecm->Component<
sim::components::SensorTopic>(this->dataPtr->imus_[i]->sim_imu_sensors_);
if (sensorTopicComp) {
this->dataPtr->imus_[i]->topicName = sensorTopicComp->Data();
RCLCPP_INFO_STREAM(
this->nh_->get_logger(), "IMU " << this->dataPtr->imus_[i]->name <<
" has a topic name: " << sensorTopicComp->Data());
this->dataPtr->node.Subscribe(
this->dataPtr->imus_[i]->topicName, &ImuData::OnIMU,
this->dataPtr->imus_[i].get());
}
}
}
return hardware_interface::return_type::OK;
}
hardware_interface::return_type GazeboSimSystem::write(
const rclcpp::Time & /*time*/,
const rclcpp::Duration & /*period*/) {
for (unsigned int i = 0; i < this->dataPtr->joints_.size(); ++i) {
if (this->dataPtr->joints_[i].sim_joint == sim::kNullEntity) {
continue;
}
if (!this->dataPtr->ecm->Component<sim::components::JointForceCmd>(
this->dataPtr->joints_[i].sim_joint)) {
this->dataPtr->ecm->CreateComponent(
this->dataPtr->joints_[i].sim_joint,
sim::components::JointForceCmd({0}));
} else {
const auto jointEffortCmd =
this->dataPtr->ecm->Component<sim::components::JointForceCmd>(
this->dataPtr->joints_[i].sim_joint);
const double torque = this->dataPtr->joints_[i].joint_effort_cmd +
this->dataPtr->joints_[i].joint_kp_cmd * (
this->dataPtr->joints_[i].joint_position_cmd -
this->dataPtr->joints_[i].joint_position)
+
this->dataPtr->joints_[i].joint_kd_cmd * (
this->dataPtr->joints_[i].joint_velocity_cmd -
this->dataPtr->joints_[i].joint_velocity);
*jointEffortCmd = sim::components::JointForceCmd(
{torque});
}
}
// set values of all mimic joints with respect to mimicked joint
for (const auto &mimic_joint: this->info_.mimic_joints) {
// Get the joint position
double position_mimicked_joint =
this->dataPtr->ecm->Component<sim::components::JointPosition>(
this->dataPtr->joints_[mimic_joint.mimicked_joint_index].sim_joint)->Data()[0];
double position_mimic_joint =
this->dataPtr->ecm->Component<sim::components::JointPosition>(
this->dataPtr->joints_[mimic_joint.joint_index].sim_joint)->Data()[0];
double position_error =
position_mimic_joint - position_mimicked_joint * mimic_joint.multiplier;
double velocity_sp = (-1.0) * position_error * this->dataPtr->update_rate;
auto vel =
this->dataPtr->ecm->Component<sim::components::JointVelocityCmd>(
this->dataPtr->joints_[mimic_joint.joint_index].sim_joint);
if (vel == nullptr) {
this->dataPtr->ecm->CreateComponent(
this->dataPtr->joints_[mimic_joint.joint_index].sim_joint,
sim::components::JointVelocityCmd({velocity_sp}));
} else if (!vel->Data().empty()) {
vel->Data()[0] = velocity_sp;
}
}
return hardware_interface::return_type::OK;
}
} // namespace gz_quadruped_hardware
#include "pluginlib/class_list_macros.hpp" // NOLINT
PLUGINLIB_EXPORT_CLASS(
gz_quadruped_hardware::GazeboSimSystem, gz_quadruped_hardware::GazeboSimSystemInterface)

4
libraries/gz_quadruped_playground/README.md
View File

@ -14,16 +14,18 @@ colcon build --packages-up-to gz_quadruped_playground --symlink-install
```
## Launch Simulation
* Unitree Guide Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch gz_quadruped_playground gazebo.launch.py controller:=unitree_guide
```
* Unitree Guide Controller
* OCS2 Quadruped Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch gz_quadruped_playground gazebo.launch.py controller:=ocs2
```
## Related Materials
* [Gazebo OdometryPublisher Plugin](https://gazebosim.org/api/sim/8/classgz_1_1sim_1_1systems_1_1OdometryPublisher.html#details)

19
libraries/gz_quadruped_playground/launch/ocs2.launch.py
View File

@ -19,13 +19,6 @@ def generate_launch_description():
"--controller-manager", "/controller_manager"]
)
leg_pd_controller = Node(
package="controller_manager",
executable="spawner",
arguments=["leg_pd_controller",
"--controller-manager", "/controller_manager"]
)
ocs2_controller = Node(
package="controller_manager",
executable="spawner",
@ -34,11 +27,17 @@ def generate_launch_description():
return LaunchDescription([
leg_pd_controller,
joint_state_publisher,
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=leg_pd_controller,
on_exit=[imu_sensor_broadcaster, joint_state_publisher, ocs2_controller],
target_action=joint_state_publisher,
on_exit=[imu_sensor_broadcaster],
)
),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=imu_sensor_broadcaster,
on_exit=[ocs2_controller],
)
),
])

19
libraries/gz_quadruped_playground/launch/unitree_guide.launch.py
View File

@ -19,13 +19,6 @@ def generate_launch_description():
"--controller-manager", "/controller_manager"]
)
leg_pd_controller = Node(
package="controller_manager",
executable="spawner",
arguments=["leg_pd_controller",
"--controller-manager", "/controller_manager"]
)
unitree_guide_controller = Node(
package="controller_manager",
executable="spawner",
@ -33,11 +26,17 @@ def generate_launch_description():
)
return LaunchDescription([
leg_pd_controller,
joint_state_publisher,
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=leg_pd_controller,
on_exit=[imu_sensor_broadcaster, joint_state_publisher, unitree_guide_controller],
target_action=joint_state_publisher,
on_exit=[imu_sensor_broadcaster],
)
),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=imu_sensor_broadcaster,
on_exit=[unitree_guide_controller],
)
),
])