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tried to add foot force sensor

This commit is contained in:
Huang Zhenbiao 2025-02-26 01:18:37 +08:00
parent 1f1dfce57d
commit d8c4d8eee5
10 changed files with 883 additions and 575 deletions
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147
.clang-tidy Normal file
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@ -0,0 +1,147 @@
# Generated from CLion Inspection settings
---
Checks: '-*,
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readability-use-anyofallof'

7
descriptions/unitree/go2_description/config/gazebo.yaml
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@ -75,7 +75,12 @@ ocs2_quadruped_controller:
- linear_acceleration.y - linear_acceleration.y
- linear_acceleration.z - linear_acceleration.z
estimator_type: "odom_topic" foot_force_name: "foot_force"
foot_force_interfaces:
- FL_ft_sensor
- RL_ft_sensor
- FR_ft_sensor
- RR_ft_sensor
unitree_guide_controller: unitree_guide_controller:
ros__parameters: ros__parameters:

22
descriptions/unitree/go2_description/xacro/ft_sensor.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="ft_sensor" params="name">
<gazebo reference="${name}_foot_fixed">
<!-- Enable feedback for this joint -->
<provideFeedback>true</provideFeedback>
<!-- Prevent ros2_control from lumping this fixed joint with others -->
<disableFixedJointLumping>true</disableFixedJointLumping>
<sensor name="${name}_ft_sensor" type="force_torque">
<always_on>1</always_on>
<update_rate>500</update_rate>
<visualize>true</visualize>
<topic>${name}_ft</topic>
<force_torque>
<frame>child</frame>
<!-- <measure_direction>child_to_parent</measure_direction>-->
</force_torque>
</sensor>
</gazebo>
</xacro:macro>
</robot>

531
descriptions/unitree/go2_description/xacro/gazebo.xacro
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@ -1,279 +1,294 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<ros2_control name="GazeboSystem" type="system"> <xacro:include filename="$(find go2_description)/xacro/ft_sensor.xacro"/>
<hardware> <ros2_control name="GazeboSystem" type="system">
<plugin>gz_quadruped_hardware/GazeboSimSystem</plugin> <hardware>
</hardware> <plugin>gz_quadruped_hardware/GazeboSimSystem</plugin>
</hardware>
<joint name="FR_hip_joint"> <joint name="FR_hip_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FR_thigh_joint"> <joint name="FR_thigh_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FR_calf_joint"> <joint name="FR_calf_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FL_hip_joint"> <joint name="FL_hip_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FL_thigh_joint"> <joint name="FL_thigh_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="FL_calf_joint"> <joint name="FL_calf_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RR_hip_joint"> <joint name="RR_hip_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RR_thigh_joint"> <joint name="RR_thigh_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RR_calf_joint"> <joint name="RR_calf_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RL_hip_joint"> <joint name="RL_hip_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RL_thigh_joint"> <joint name="RL_thigh_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<joint name="RL_calf_joint"> <joint name="RL_calf_joint">
<command_interface name="position"/> <command_interface name="position"/>
<command_interface name="velocity"/> <command_interface name="velocity"/>
<command_interface name="effort"/> <command_interface name="effort"/>
<command_interface name="kp"/> <command_interface name="kp"/>
<command_interface name="kd"/> <command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="effort"/> <state_interface name="effort"/>
</joint> </joint>
<sensor name="imu_sensor"> <sensor name="imu_sensor">
<state_interface name="orientation.x"/> <state_interface name="orientation.x"/>
<state_interface name="orientation.y"/> <state_interface name="orientation.y"/>
<state_interface name="orientation.z"/> <state_interface name="orientation.z"/>
<state_interface name="orientation.w"/> <state_interface name="orientation.w"/>
<state_interface name="angular_velocity.x"/> <state_interface name="angular_velocity.x"/>
<state_interface name="angular_velocity.y"/> <state_interface name="angular_velocity.y"/>
<state_interface name="angular_velocity.z"/> <state_interface name="angular_velocity.z"/>
<state_interface name="linear_acceleration.x"/> <state_interface name="linear_acceleration.x"/>
<state_interface name="linear_acceleration.y"/> <state_interface name="linear_acceleration.y"/>
<state_interface name="linear_acceleration.z"/> <state_interface name="linear_acceleration.z"/>
</sensor> </sensor>
</ros2_control>
<gazebo> <sensor name="foot_force">
<plugin filename="gz_quadruped_hardware-system" name="gz_quadruped_hardware::GazeboSimQuadrupedPlugin"> <state_interface name="FR_ft_sensor"/>
<parameters>$(find go2_description)/config/gazebo.yaml</parameters> <state_interface name="FL_ft_sensor"/>
</plugin> <state_interface name="RR_ft_sensor"/>
<plugin filename="gz-sim-imu-system" <state_interface name="RL_ft_sensor"/>
name="gz::sim::systems::Imu"> </sensor>
</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"> </ros2_control>
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="imu_link"> <gazebo>
<sensor name="imu_sensor" type="imu"> <plugin filename="gz_quadruped_hardware-system" name="gz_quadruped_hardware::GazeboSimQuadrupedPlugin">
<always_on>1</always_on> <parameters>$(find go2_description)/config/gazebo.yaml</parameters>
<update_rate>500</update_rate> </plugin>
<visualize>true</visualize> <plugin filename="gz-sim-imu-system"
<topic>imu</topic> name="gz::sim::systems::Imu">
<imu> </plugin>
<angular_velocity> <plugin filename="gz-sim-forcetorque-system" name="gz::sim::systems::ForceTorque"/>
<x> <plugin filename="gz-sim-odometry-publisher-system"
<noise type="gaussian"> name="gz::sim::systems::OdometryPublisher">
<mean>0.0</mean> <odom_frame>odom</odom_frame>
<stddev>2e-4</stddev> <robot_base_frame>base</robot_base_frame>
<bias_mean>0.0000075</bias_mean> <odom_publish_frequency>1000</odom_publish_frequency>
<bias_stddev>0.0000008</bias_stddev> <odom_topic>odom</odom_topic>
</noise> <dimensions>3</dimensions>
</x> <odom_covariance_topic>odom_with_covariance</odom_covariance_topic>
<y> <tf_topic>tf</tf_topic>
<noise type="gaussian"> </plugin>
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</z>
</angular_velocity>
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</z>
</linear_acceleration>
</imu>
</sensor>
</gazebo>
<gazebo reference="imu_joint">
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
<xacro:arg name="EXTERNAL_SENSORS" default="false"/>
<xacro:if value="$(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>
</xacro:if>
<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:ft_sensor name="FR"/>
<xacro:ft_sensor name="FL"/>
<xacro:ft_sensor name="RR"/>
<xacro:ft_sensor name="RL"/>
<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>
</robot> </robot>

358
descriptions/unitree/go2_description/xacro/leg.xacro
View File

@ -2,202 +2,202 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find go2_description)/xacro/transmission.xacro"/> <xacro:include filename="$(find go2_description)/xacro/transmission.xacro"/>
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae"> <xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae">
<joint name="${name}_hip_joint" type="revolute"> <joint name="${name}_hip_joint" type="revolute">
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}"> <xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/> <origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:if> </xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}"> <xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/> <origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
</xacro:if> </xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}"> <xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/> <origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:if> </xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}"> <xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/> <origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
</xacro:if> </xacro:if>
<parent link="trunk"/> <parent link="trunk"/>
<child link="${name}_hip"/> <child link="${name}_hip"/>
<axis xyz="1 0 0"/> <axis xyz="1 0 0"/>
<dynamics damping="${damping}" friction="${friction}"/> <dynamics damping="${damping}" friction="${friction}"/>
<xacro:if value="${(mirror_dae == True)}"> <xacro:if value="${(mirror_dae == True)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_position_min}" <limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_position_min}"
upper="${hip_position_max}"/> upper="${hip_position_max}"/>
</xacro:if> </xacro:if>
<xacro:if value="${(mirror_dae == False)}"> <xacro:if value="${(mirror_dae == False)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_position_max}" <limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_position_max}"
upper="${-hip_position_min}"/> upper="${-hip_position_min}"/>
</xacro:if> </xacro:if>
</joint> </joint>
<link name="${name}_hip"> <link name="${name}_hip">
<visual> <visual>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}"> <xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if> </xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}"> <xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="${PI} 0 0" xyz="0 0 0"/> <origin rpy="${PI} 0 0" xyz="0 0 0"/>
</xacro:if> </xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}"> <xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 ${PI} 0" xyz="0 0 0"/> <origin rpy="0 ${PI} 0" xyz="0 0 0"/>
</xacro:if> </xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}"> <xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/> <origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if> </xacro:if>
<geometry> <geometry>
<mesh filename="file://$(find go2_description)/meshes/hip.dae" scale="1 1 1"/> <mesh filename="file://$(find go2_description)/meshes/hip.dae" scale="1 1 1"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/> <origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/>
<geometry> <geometry>
<cylinder length="${hip_length}" radius="${hip_radius}"/> <cylinder length="${hip_length}" radius="${hip_radius}"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/> <origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
<mass value="${hip_mass}"/> <mass value="${hip_mass}"/>
<inertia <inertia
ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}" ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
iyy="${hip_iyy}" iyz="${hip_iyz*mirror}" iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
izz="${hip_izz}"/> izz="${hip_izz}"/>
</inertial> </inertial>
</link> </link>
<joint name="${name}_thigh_joint" type="revolute"> <joint name="${name}_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/> <origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
<parent link="${name}_hip"/> <parent link="${name}_hip"/>
<child link="${name}_thigh"/> <child link="${name}_thigh"/>
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/> <dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_position_min}" <limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_position_min}"
upper="${thigh_position_max}"/> upper="${thigh_position_max}"/>
</joint> </joint>
<link name="${name}_thigh"> <link name="${name}_thigh">
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<xacro:if value="${mirror_dae == True}"> <xacro:if value="${mirror_dae == True}">
<mesh filename="file://$(find go2_description)/meshes/thigh.dae" scale="1 1 1"/> <mesh filename="file://$(find go2_description)/meshes/thigh.dae" scale="1 1 1"/>
</xacro:if> </xacro:if>
<xacro:if value="${mirror_dae == False}"> <xacro:if value="${mirror_dae == False}">
<mesh filename="file://$(find go2_description)/meshes/thigh_mirror.dae" scale="1 1 1"/> <mesh filename="file://$(find go2_description)/meshes/thigh_mirror.dae" scale="1 1 1"/>
</xacro:if> </xacro:if>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/> <origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
<geometry> <geometry>
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/> <box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/> <origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
<mass value="${thigh_mass}"/> <mass value="${thigh_mass}"/>
<inertia <inertia
ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}" ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}" iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
izz="${thigh_izz}"/> izz="${thigh_izz}"/>
</inertial> </inertial>
</link> </link>
<joint name="${name}_calf_joint" type="revolute"> <joint name="${name}_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/> <origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
<parent link="${name}_thigh"/> <parent link="${name}_thigh"/>
<child link="${name}_calf"/> <child link="${name}_calf"/>
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/> <dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}" <limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}"
upper="${calf_position_max}"/> upper="${calf_position_max}"/>
</joint> </joint>
<link name="${name}_calf"> <link name="${name}_calf">
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="file://$(find go2_description)/meshes/calf.dae" scale="1 1 1"/> <mesh filename="file://$(find go2_description)/meshes/calf.dae" scale="1 1 1"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/> <origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
<geometry> <geometry>
<box size="${calf_length} ${calf_width} ${calf_height}"/> <box size="${calf_length} ${calf_width} ${calf_height}"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/> <origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
<mass value="${calf_mass}"/> <mass value="${calf_mass}"/>
<inertia <inertia
ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}" ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
iyy="${calf_iyy}" iyz="${calf_iyz}" iyy="${calf_iyy}" iyz="${calf_iyz}"
izz="${calf_izz}"/> izz="${calf_izz}"/>
</inertial> </inertial>
</link> </link>
<joint name="${name}_foot_fixed" type="fixed">0 <joint name="${name}_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/> <origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
<parent link="${name}_calf"/> <parent link="${name}_calf"/>
<child link="${name}_foot"/> <child link="${name}_foot"/>
</joint> </joint>
<link name="${name}_foot"> <link name="${name}_foot">
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<sphere radius="${foot_radius-0.01}"/> <sphere radius="${foot_radius-0.01}"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<sphere radius="${foot_radius}"/> <sphere radius="${foot_radius}"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="${foot_mass}"/> <mass value="${foot_mass}"/>
<inertia <inertia
ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0" ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0" iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/> izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
</inertial> </inertial>
</link> </link>
<gazebo reference="${name}_hip"> <gazebo reference="${name}_hip">
<mu1>0.2</mu1> <mu1>0.2</mu1>
<mu2>0.2</mu2> <mu2>0.2</mu2>
</gazebo> </gazebo>
<gazebo reference="${name}_thigh"> <gazebo reference="${name}_thigh">
<mu1>0.2</mu1> <mu1>0.2</mu1>
<mu2>0.2</mu2> <mu2>0.2</mu2>
<self_collide>0</self_collide> <self_collide>0</self_collide>
<kp value="1000000.0"/> <kp value="1000000.0"/>
<kd value="100.0"/> <kd value="100.0"/>
</gazebo> </gazebo>
<gazebo reference="${name}_calf"> <gazebo reference="${name}_calf">
<mu1>0.6</mu1> <mu1>0.6</mu1>
<mu2>0.6</mu2> <mu2>0.6</mu2>
<self_collide>1</self_collide> <self_collide>1</self_collide>
</gazebo> </gazebo>
<gazebo reference="${name}_foot"> <gazebo reference="${name}_foot">
<mu1>0.6</mu1> <mu1>0.6</mu1>
<mu2>0.6</mu2> <mu2>0.6</mu2>
<self_collide>1</self_collide> <self_collide>1</self_collide>
<kp value="1000000.0"/> <kp value="1000000.0"/>
<kd value="100.0"/> <kd value="100.0"/>
</gazebo> </gazebo>
<xacro:leg_transmission name="${name}"/> <xacro:leg_transmission name="${name}"/>
</xacro:macro> </xacro:macro>
</robot> </robot>

8
hardwares/gz_quadruped_hardware/README.md Normal file
View File

@ -0,0 +1,8 @@
# Gazebo Quadruped ROS2 Control Plugin
This repository is a modified version of [gz_ros2_control](https://github.com/ros-controls/gz_ros2_control)
```bash
cd ~/ros2_ws
colcon build --packages-up-to gz_quadruped_hardware --symlink-install
```

373
hardwares/gz_quadruped_hardware/src/gz_system.cpp
View File

@ -15,6 +15,7 @@
#include "gz_quadruped_hardware/gz_system.hpp" #include "gz_quadruped_hardware/gz_system.hpp"
#include <gz/msgs/imu.pb.h> #include <gz/msgs/imu.pb.h>
#include <gz/msgs/wrench.pb.h>
#include <limits> #include <limits>
#include <map> #include <map>
@ -32,7 +33,7 @@
#include <gz/sim/components/JointPositionReset.hh> #include <gz/sim/components/JointPositionReset.hh>
#include <gz/sim/components/JointTransmittedWrench.hh> #include <gz/sim/components/JointTransmittedWrench.hh>
#include <gz/sim/components/JointType.hh> #include <gz/sim/components/JointType.hh>
#include <gz/sim/components/JointVelocityCmd.hh> #include <gz/sim/components/ForceTorque.hh>
#include <gz/sim/components/JointVelocity.hh> #include <gz/sim/components/JointVelocity.hh>
#include <gz/sim/components/JointVelocityReset.hh> #include <gz/sim/components/JointVelocityReset.hh>
#include <gz/sim/components/Name.hh> #include <gz/sim/components/Name.hh>
@ -46,7 +47,8 @@
#include <hardware_interface/lexical_casts.hpp> #include <hardware_interface/lexical_casts.hpp>
#include <hardware_interface/types/hardware_interface_type_values.hpp> #include <hardware_interface/types/hardware_interface_type_values.hpp>
struct jointData { struct jointData
{
/// \brief Joint's names. /// \brief Joint's names.
std::string name; std::string name;
@ -88,7 +90,8 @@ struct jointData {
gz_quadruped_hardware::GazeboSimSystemInterface::ControlMethod joint_control_method; gz_quadruped_hardware::GazeboSimSystemInterface::ControlMethod joint_control_method;
}; };
class ImuData { class ImuData
{
public: public:
/// \brief imu's name. /// \brief imu's name.
std::string name{}; std::string name{};
@ -103,10 +106,11 @@ public:
std::array<double, 10> imu_sensor_data_; std::array<double, 10> imu_sensor_data_;
/// \brief callback to get the IMU topic values /// \brief callback to get the IMU topic values
void OnIMU(const GZ_MSGS_NAMESPACE IMU &_msg); void OnIMU(const GZ_MSGS_NAMESPACE IMU& _msg);
}; };
void ImuData::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_[0] = _msg.orientation().x();
this->imu_sensor_data_[1] = _msg.orientation().y(); this->imu_sensor_data_[1] = _msg.orientation().y();
this->imu_sensor_data_[2] = _msg.orientation().z(); this->imu_sensor_data_[2] = _msg.orientation().z();
@ -119,7 +123,41 @@ void ImuData::OnIMU(const GZ_MSGS_NAMESPACE IMU &_msg) {
this->imu_sensor_data_[9] = _msg.linear_acceleration().z(); this->imu_sensor_data_[9] = _msg.linear_acceleration().z();
} }
class gz_quadruped_hardware::GazeboSimSystemPrivate { class ForceTorqueData
{
public:
/// \brief force-torque sensor's name.
std::string name{};
/// \brief force-torque sensor's topic name.
std::string topicName{};
/// \brief handles to the force torque from within Gazebo
sim::Entity sim_ft_sensors_ = sim::kNullEntity;
/// \brief An array per FT
std::array<double, 6> ft_sensor_data_;
/// \brief Current foot end effort
double foot_effort;
/// \brief callback to get the Force Torque topic values
void OnForceTorque(const GZ_MSGS_NAMESPACE Wrench& _msg);
};
void ForceTorqueData::OnForceTorque(const GZ_MSGS_NAMESPACE Wrench& _msg)
{
this->ft_sensor_data_[0] = _msg.force().x();
this->ft_sensor_data_[1] = _msg.force().y();
this->ft_sensor_data_[2] = _msg.force().z();
this->ft_sensor_data_[3] = _msg.torque().x();
this->ft_sensor_data_[4] = _msg.torque().y();
this->ft_sensor_data_[5] = _msg.torque().z();
this->foot_effort = sqrt(pow(_msg.force().x(), 2) + pow(_msg.force().y(), 2) + pow(_msg.force().z(), 2));
}
class gz_quadruped_hardware::GazeboSimSystemPrivate
{
public: public:
GazeboSimSystemPrivate() = default; GazeboSimSystemPrivate() = default;
@ -135,7 +173,10 @@ public:
std::vector<jointData> joints_; std::vector<jointData> joints_;
/// \brief vector with the imus . /// \brief vector with the imus .
std::vector<std::shared_ptr<ImuData> > imus_; std::vector<std::shared_ptr<ImuData>> imus_;
/// \brief vector with the foot force-torque sensors.
std::vector<std::shared_ptr<ForceTorqueData>> ft_sensors_;
/// \brief state interfaces that will be exported to the Resource Manager /// \brief state interfaces that will be exported to the Resource Manager
std::vector<hardware_interface::StateInterface> state_interfaces_; std::vector<hardware_interface::StateInterface> state_interfaces_;
@ -145,25 +186,24 @@ public:
/// \brief Entity component manager, ECM shouldn't be accessed outside those /// \brief Entity component manager, ECM shouldn't be accessed outside those
/// methods, otherwise the app will crash /// methods, otherwise the app will crash
sim::EntityComponentManager *ecm; sim::EntityComponentManager* ecm;
/// \brief controller update rate /// \brief controller update rate
unsigned int update_rate; unsigned int update_rate;
/// \brief Gazebo communication node. /// \brief Gazebo communication node.
GZ_TRANSPORT_NAMESPACE Node node; GZ_TRANSPORT_NAMESPACE Node node;
/// \brief Gain which converts position error to a velocity command
double position_proportional_gain_;
}; };
namespace gz_quadruped_hardware { namespace gz_quadruped_hardware
{
bool GazeboSimSystem::initSim( bool GazeboSimSystem::initSim(
rclcpp::Node::SharedPtr &model_nh, rclcpp::Node::SharedPtr& model_nh,
std::map<std::string, sim::Entity> &enableJoints, std::map<std::string, sim::Entity>& enableJoints,
const hardware_interface::HardwareInfo &hardware_info, const hardware_interface::HardwareInfo& hardware_info,
sim::EntityComponentManager &_ecm, sim::EntityComponentManager& _ecm,
unsigned int update_rate) { unsigned int update_rate)
{
this->dataPtr = std::make_unique<GazeboSimSystemPrivate>(); this->dataPtr = std::make_unique<GazeboSimSystemPrivate>();
this->dataPtr->last_update_sim_time_ros_ = rclcpp::Time(); this->dataPtr->last_update_sim_time_ros_ = rclcpp::Time();
@ -178,48 +218,20 @@ namespace gz_quadruped_hardware {
this->dataPtr->joints_.resize(this->dataPtr->n_dof_); this->dataPtr->joints_.resize(this->dataPtr->n_dof_);
try { if (this->dataPtr->n_dof_ == 0)
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"); RCLCPP_ERROR_STREAM(this->nh_->get_logger(), "There is no joint available");
return false; return false;
} }
for (unsigned int j = 0; j < this->dataPtr->n_dof_; j++) { for (unsigned int j = 0; j < this->dataPtr->n_dof_; j++)
auto &joint_info = hardware_info.joints[j]; {
auto& joint_info = hardware_info.joints[j];
std::string joint_name = this->dataPtr->joints_[j].name = joint_info.name; std::string joint_name = this->dataPtr->joints_[j].name = joint_info.name;
auto it_joint = enableJoints.find(joint_name); auto it_joint = enableJoints.find(joint_name);
if (it_joint == enableJoints.end()) { if (it_joint == enableJoints.end())
{
RCLCPP_WARN_STREAM( RCLCPP_WARN_STREAM(
this->nh_->get_logger(), "Skipping joint in the URDF named '" << joint_name << this->nh_->get_logger(), "Skipping joint in the URDF named '" << joint_name <<
"' which is not in the gazebo model."); "' which is not in the gazebo model.");
@ -236,21 +248,24 @@ namespace gz_quadruped_hardware {
// Create joint position component if one doesn't exist // Create joint position component if one doesn't exist
if (!_ecm.EntityHasComponentType( if (!_ecm.EntityHasComponentType(
simjoint, simjoint,
sim::components::JointPosition().TypeId())) { sim::components::JointPosition().TypeId()))
{
_ecm.CreateComponent(simjoint, sim::components::JointPosition()); _ecm.CreateComponent(simjoint, sim::components::JointPosition());
} }
// Create joint velocity component if one doesn't exist // Create joint velocity component if one doesn't exist
if (!_ecm.EntityHasComponentType( if (!_ecm.EntityHasComponentType(
simjoint, simjoint,
sim::components::JointVelocity().TypeId())) { sim::components::JointVelocity().TypeId()))
{
_ecm.CreateComponent(simjoint, sim::components::JointVelocity()); _ecm.CreateComponent(simjoint, sim::components::JointVelocity());
} }
// Create joint transmitted wrench component if one doesn't exist // Create joint transmitted wrench component if one doesn't exist
if (!_ecm.EntityHasComponentType( if (!_ecm.EntityHasComponentType(
simjoint, simjoint,
sim::components::JointTransmittedWrench().TypeId())) { sim::components::JointTransmittedWrench().TypeId()))
{
_ecm.CreateComponent(simjoint, sim::components::JointTransmittedWrench()); _ecm.CreateComponent(simjoint, sim::components::JointTransmittedWrench());
} }
@ -261,11 +276,13 @@ namespace gz_quadruped_hardware {
auto it = std::find_if( auto it = std::find_if(
hardware_info.mimic_joints.begin(), hardware_info.mimic_joints.begin(),
hardware_info.mimic_joints.end(), hardware_info.mimic_joints.end(),
[j](const hardware_interface::MimicJoint &mj) { [j](const hardware_interface::MimicJoint& mj)
{
return mj.joint_index == j; return mj.joint_index == j;
}); });
if (it != hardware_info.mimic_joints.end()) { if (it != hardware_info.mimic_joints.end())
{
RCLCPP_INFO_STREAM( RCLCPP_INFO_STREAM(
this->nh_->get_logger(), this->nh_->get_logger(),
"Joint '" << joint_name << "'is mimicking joint '" << "Joint '" << joint_name << "'is mimicking joint '" <<
@ -276,13 +293,18 @@ namespace gz_quadruped_hardware {
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\tState:"); RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\tState:");
auto get_initial_value = auto get_initial_value =
[this, joint_name](const hardware_interface::InterfaceInfo &interface_info) { [this, joint_name](const hardware_interface::InterfaceInfo& interface_info)
{
double initial_value{0.0}; double initial_value{0.0};
if (!interface_info.initial_value.empty()) { if (!interface_info.initial_value.empty())
try { {
try
{
initial_value = hardware_interface::stod(interface_info.initial_value); initial_value = hardware_interface::stod(interface_info.initial_value);
RCLCPP_INFO(this->nh_->get_logger(), "\t\t\t found initial value: %f", initial_value); RCLCPP_INFO(this->nh_->get_logger(), "\t\t\t found initial value: %f", initial_value);
} catch (std::invalid_argument &) { }
catch (std::invalid_argument&)
{
RCLCPP_ERROR_STREAM( RCLCPP_ERROR_STREAM(
this->nh_->get_logger(), this->nh_->get_logger(),
"Failed converting initial_value string to real number for the joint " "Failed converting initial_value string to real number for the joint "
@ -301,8 +323,10 @@ namespace gz_quadruped_hardware {
double initial_effort = std::numeric_limits<double>::quiet_NaN(); double initial_effort = std::numeric_limits<double>::quiet_NaN();
// register the state handles // register the state handles
for (unsigned int i = 0; i < joint_info.state_interfaces.size(); ++i) { for (unsigned int i = 0; i < joint_info.state_interfaces.size(); ++i)
if (joint_info.state_interfaces[i].name == "position") { {
if (joint_info.state_interfaces[i].name == "position")
{
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t position"); RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t position");
this->dataPtr->state_interfaces_.emplace_back( this->dataPtr->state_interfaces_.emplace_back(
joint_name, joint_name,
@ -311,7 +335,8 @@ namespace gz_quadruped_hardware {
initial_position = get_initial_value(joint_info.state_interfaces[i]); initial_position = get_initial_value(joint_info.state_interfaces[i]);
this->dataPtr->joints_[j].joint_position = initial_position; this->dataPtr->joints_[j].joint_position = initial_position;
} }
if (joint_info.state_interfaces[i].name == "velocity") { if (joint_info.state_interfaces[i].name == "velocity")
{
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t velocity"); RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t velocity");
this->dataPtr->state_interfaces_.emplace_back( this->dataPtr->state_interfaces_.emplace_back(
joint_name, joint_name,
@ -320,7 +345,8 @@ namespace gz_quadruped_hardware {
initial_velocity = get_initial_value(joint_info.state_interfaces[i]); initial_velocity = get_initial_value(joint_info.state_interfaces[i]);
this->dataPtr->joints_[j].joint_velocity = initial_velocity; this->dataPtr->joints_[j].joint_velocity = initial_velocity;
} }
if (joint_info.state_interfaces[i].name == "effort") { if (joint_info.state_interfaces[i].name == "effort")
{
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t effort"); RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t effort");
this->dataPtr->state_interfaces_.emplace_back( this->dataPtr->state_interfaces_.emplace_back(
joint_name, joint_name,
@ -334,42 +360,55 @@ namespace gz_quadruped_hardware {
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\tCommand:"); RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\tCommand:");
// register the command handles // register the command handles
for (unsigned int i = 0; i < joint_info.command_interfaces.size(); ++i) { for (unsigned int i = 0; i < joint_info.command_interfaces.size(); ++i)
if (joint_info.command_interfaces[i].name == "position") { {
if (joint_info.command_interfaces[i].name == "position")
{
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t position"); RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t position");
this->dataPtr->command_interfaces_.emplace_back( this->dataPtr->command_interfaces_.emplace_back(
joint_name, joint_name,
hardware_interface::HW_IF_POSITION, hardware_interface::HW_IF_POSITION,
&this->dataPtr->joints_[j].joint_position_cmd); &this->dataPtr->joints_[j].joint_position_cmd);
if (!std::isnan(initial_position)) { if (!std::isnan(initial_position))
{
this->dataPtr->joints_[j].joint_position_cmd = initial_position; this->dataPtr->joints_[j].joint_position_cmd = initial_position;
} }
} else if (joint_info.command_interfaces[i].name == "velocity") { }
else if (joint_info.command_interfaces[i].name == "velocity")
{
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t velocity"); RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t velocity");
this->dataPtr->command_interfaces_.emplace_back( this->dataPtr->command_interfaces_.emplace_back(
joint_name, joint_name,
hardware_interface::HW_IF_VELOCITY, hardware_interface::HW_IF_VELOCITY,
&this->dataPtr->joints_[j].joint_velocity_cmd); &this->dataPtr->joints_[j].joint_velocity_cmd);
if (!std::isnan(initial_velocity)) { if (!std::isnan(initial_velocity))
{
this->dataPtr->joints_[j].joint_velocity_cmd = initial_velocity; this->dataPtr->joints_[j].joint_velocity_cmd = initial_velocity;
} }
} else if (joint_info.command_interfaces[i].name == "effort") { }
else if (joint_info.command_interfaces[i].name == "effort")
{
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t effort"); RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t effort");
this->dataPtr->command_interfaces_.emplace_back( this->dataPtr->command_interfaces_.emplace_back(
joint_name, joint_name,
hardware_interface::HW_IF_EFFORT, hardware_interface::HW_IF_EFFORT,
&this->dataPtr->joints_[j].joint_effort_cmd); &this->dataPtr->joints_[j].joint_effort_cmd);
if (!std::isnan(initial_effort)) { if (!std::isnan(initial_effort))
{
this->dataPtr->joints_[j].joint_effort_cmd = initial_effort; this->dataPtr->joints_[j].joint_effort_cmd = initial_effort;
} }
} else if (joint_info.command_interfaces[i].name == "kp") { }
else if (joint_info.command_interfaces[i].name == "kp")
{
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t kp"); RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t kp");
this->dataPtr->command_interfaces_.emplace_back( this->dataPtr->command_interfaces_.emplace_back(
joint_name, joint_name,
"kp", "kp",
&this->dataPtr->joints_[j].joint_kp_cmd); &this->dataPtr->joints_[j].joint_kp_cmd);
this->dataPtr->joints_[j].joint_kp_cmd = 0.0; this->dataPtr->joints_[j].joint_kp_cmd = 0.0;
} else if (joint_info.command_interfaces[i].name == "kd") { }
else if (joint_info.command_interfaces[i].name == "kd")
{
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t kd"); RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t kd");
this->dataPtr->command_interfaces_.emplace_back( this->dataPtr->command_interfaces_.emplace_back(
joint_name, joint_name,
@ -379,13 +418,15 @@ namespace gz_quadruped_hardware {
} }
// independently of existence of command interface set initial value if defined // independently of existence of command interface set initial value if defined
if (!std::isnan(initial_position)) { if (!std::isnan(initial_position))
{
this->dataPtr->joints_[j].joint_position = initial_position; this->dataPtr->joints_[j].joint_position = initial_position;
this->dataPtr->ecm->CreateComponent( this->dataPtr->ecm->CreateComponent(
this->dataPtr->joints_[j].sim_joint, this->dataPtr->joints_[j].sim_joint,
sim::components::JointPositionReset({initial_position})); sim::components::JointPositionReset({initial_position}));
} }
if (!std::isnan(initial_velocity)) { if (!std::isnan(initial_velocity))
{
this->dataPtr->joints_[j].joint_velocity = initial_velocity; this->dataPtr->joints_[j].joint_velocity = initial_velocity;
this->dataPtr->ecm->CreateComponent( this->dataPtr->ecm->CreateComponent(
this->dataPtr->joints_[j].sim_joint, this->dataPtr->joints_[j].sim_joint,
@ -403,12 +444,14 @@ namespace gz_quadruped_hardware {
} }
void GazeboSimSystem::registerSensors( void GazeboSimSystem::registerSensors(
const hardware_interface::HardwareInfo &hardware_info) { const hardware_interface::HardwareInfo& hardware_info)
{
// Collect gazebo sensor handles // Collect gazebo sensor handles
size_t n_sensors = hardware_info.sensors.size(); size_t n_sensors = hardware_info.sensors.size();
std::vector<hardware_interface::ComponentInfo> sensor_components_; std::vector<hardware_interface::ComponentInfo> sensor_components_;
for (unsigned int j = 0; j < n_sensors; j++) { for (unsigned int j = 0; j < n_sensors; j++)
{
hardware_interface::ComponentInfo component = hardware_info.sensors[j]; hardware_interface::ComponentInfo component = hardware_info.sensors[j];
sensor_components_.push_back(component); sensor_components_.push_back(component);
} }
@ -416,17 +459,20 @@ namespace gz_quadruped_hardware {
// So we have resize only once the structures where the data will be stored, and we can safely // So we have resize only once the structures where the data will be stored, and we can safely
// use pointers to the structures // use pointers to the structures
// IMU Sensors
this->dataPtr->ecm->Each<sim::components::Imu, this->dataPtr->ecm->Each<sim::components::Imu,
sim::components::Name>( sim::components::Name>(
[&](const sim::Entity &_entity, [&](const sim::Entity& _entity,
const sim::components::Imu *, const sim::components::Imu*,
const sim::components::Name *_name) -> bool { const sim::components::Name* _name) -> bool
{
auto imuData = std::make_shared<ImuData>(); auto imuData = std::make_shared<ImuData>();
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "Loading sensor: " << _name->Data()); RCLCPP_INFO_STREAM(this->nh_->get_logger(), "Loading sensor: " << _name->Data());
auto sensorTopicComp = this->dataPtr->ecm->Component< auto sensorTopicComp = this->dataPtr->ecm->Component<
sim::components::SensorTopic>(_entity); sim::components::SensorTopic>(_entity);
if (sensorTopicComp) { if (sensorTopicComp)
{
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "Topic name: " << sensorTopicComp->Data()); RCLCPP_INFO_STREAM(this->nh_->get_logger(), "Topic name: " << sensorTopicComp->Data());
} }
@ -436,8 +482,10 @@ namespace gz_quadruped_hardware {
imuData->sim_imu_sensors_ = _entity; imuData->sim_imu_sensors_ = _entity;
hardware_interface::ComponentInfo component; hardware_interface::ComponentInfo component;
for (auto &comp: sensor_components_) { for (auto& comp : sensor_components_)
if (comp.name == _name->Data()) { {
if (comp.name == _name->Data())
{
component = comp; component = comp;
} }
} }
@ -455,7 +503,8 @@ namespace gz_quadruped_hardware {
{"linear_acceleration.z", 9}, {"linear_acceleration.z", 9},
}; };
for (const auto &state_interface: component.state_interfaces) { for (const auto& state_interface : component.state_interfaces)
{
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t " << state_interface.name); RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t " << state_interface.name);
size_t data_index = interface_name_map.at(state_interface.name); size_t data_index = interface_name_map.at(state_interface.name);
@ -467,75 +516,111 @@ namespace gz_quadruped_hardware {
this->dataPtr->imus_.push_back(imuData); this->dataPtr->imus_.push_back(imuData);
return true; return true;
}); });
// Foot Force torque sensor
this->dataPtr->ecm->Each<sim::components::ForceTorque,
sim::components::Name>(
[&](const sim::Entity& _entity,
const sim::components::ForceTorque*,
const sim::components::Name* _name) -> bool
{
auto ftData = std::make_shared<ForceTorqueData>();
RCLCPP_INFO_STREAM(this->nh_->get_logger(), "Loading Foot Force 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());
}
ftData->name = _name->Data();
ftData->sim_ft_sensors_ = _entity;
this->dataPtr->state_interfaces_.emplace_back(
"foot_force",
ftData->name,
&ftData->foot_effort);
this->dataPtr->ft_sensors_.push_back(ftData);
return true;
});
} }
CallbackReturn GazeboSimSystem::on_init(const hardware_interface::HardwareInfo &info) { CallbackReturn GazeboSimSystem::on_init(const hardware_interface::HardwareInfo& info)
if (SystemInterface::on_init(info) != CallbackReturn::SUCCESS) { {
if (SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
{
return CallbackReturn::ERROR; return CallbackReturn::ERROR;
} }
return CallbackReturn::SUCCESS; return CallbackReturn::SUCCESS;
} }
CallbackReturn GazeboSimSystem::on_configure( CallbackReturn GazeboSimSystem::on_configure(
const rclcpp_lifecycle::State & /*previous_state*/) { const rclcpp_lifecycle::State& /*previous_state*/)
{
RCLCPP_INFO( RCLCPP_INFO(
this->nh_->get_logger(), "System Successfully configured!"); this->nh_->get_logger(), "System Successfully configured!");
return CallbackReturn::SUCCESS; return CallbackReturn::SUCCESS;
} }
std::vector<hardware_interface::StateInterface> std::vector<hardware_interface::StateInterface> GazeboSimSystem::export_state_interfaces()
GazeboSimSystem::export_state_interfaces() { {
return std::move(this->dataPtr->state_interfaces_); return std::move(this->dataPtr->state_interfaces_);
} }
std::vector<hardware_interface::CommandInterface> std::vector<hardware_interface::CommandInterface> GazeboSimSystem::export_command_interfaces()
GazeboSimSystem::export_command_interfaces() { {
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;
} }
hardware_interface::return_type GazeboSimSystem::read( hardware_interface::return_type GazeboSimSystem::read(
const rclcpp::Time & /*time*/, const rclcpp::Time& /*time*/,
const rclcpp::Duration & /*period*/) { const rclcpp::Duration& /*period*/)
{
for (unsigned int i = 0; i < this->dataPtr->joints_.size(); ++i) { for (unsigned int i = 0; i < this->dataPtr->joints_.size(); ++i)
if (this->dataPtr->joints_[i].sim_joint == sim::kNullEntity) { {
if (this->dataPtr->joints_[i].sim_joint == sim::kNullEntity)
{
continue; continue;
} }
// Get the joint velocity // Get the joint velocity
const auto *jointVelocity = const auto* jointVelocity =
this->dataPtr->ecm->Component<sim::components::JointVelocity>( this->dataPtr->ecm->Component<sim::components::JointVelocity>(
this->dataPtr->joints_[i].sim_joint); this->dataPtr->joints_[i].sim_joint);
// Get the joint force via joint transmitted wrench // Get the joint force via joint transmitted wrench
const auto *jointWrench = const auto* jointWrench =
this->dataPtr->ecm->Component<sim::components::JointTransmittedWrench>( this->dataPtr->ecm->Component<sim::components::JointTransmittedWrench>(
this->dataPtr->joints_[i].sim_joint); this->dataPtr->joints_[i].sim_joint);
// Get the joint position // Get the joint position
const auto *jointPositions = const auto* jointPositions =
this->dataPtr->ecm->Component<sim::components::JointPosition>( this->dataPtr->ecm->Component<sim::components::JointPosition>(
this->dataPtr->joints_[i].sim_joint); this->dataPtr->joints_[i].sim_joint);
this->dataPtr->joints_[i].joint_position = jointPositions->Data()[0]; this->dataPtr->joints_[i].joint_position = jointPositions->Data()[0];
this->dataPtr->joints_[i].joint_velocity = jointVelocity->Data()[0]; this->dataPtr->joints_[i].joint_velocity = jointVelocity->Data()[0];
gz::physics::Vector3d force_or_torque; gz::physics::Vector3d force_or_torque;
if (this->dataPtr->joints_[i].joint_type == sdf::JointType::PRISMATIC) { if (this->dataPtr->joints_[i].joint_type == sdf::JointType::PRISMATIC)
{
force_or_torque = { force_or_torque = {
jointWrench->Data().force().x(), jointWrench->Data().force().x(),
jointWrench->Data().force().y(), jointWrench->Data().force().y(),
jointWrench->Data().force().z() jointWrench->Data().force().z()
}; };
} else { }
else
{
// REVOLUTE and CONTINUOUS // REVOLUTE and CONTINUOUS
force_or_torque = { force_or_torque = {
jointWrench->Data().torque().x(), jointWrench->Data().torque().x(),
@ -552,11 +637,14 @@ namespace gz_quadruped_hardware {
}); });
} }
for (unsigned int i = 0; i < this->dataPtr->imus_.size(); ++i) { for (unsigned int i = 0; i < this->dataPtr->imus_.size(); ++i)
if (this->dataPtr->imus_[i]->topicName.empty()) { {
if (this->dataPtr->imus_[i]->topicName.empty())
{
auto sensorTopicComp = this->dataPtr->ecm->Component< auto sensorTopicComp = this->dataPtr->ecm->Component<
sim::components::SensorTopic>(this->dataPtr->imus_[i]->sim_imu_sensors_); sim::components::SensorTopic>(this->dataPtr->imus_[i]->sim_imu_sensors_);
if (sensorTopicComp) { if (sensorTopicComp)
{
this->dataPtr->imus_[i]->topicName = sensorTopicComp->Data(); this->dataPtr->imus_[i]->topicName = sensorTopicComp->Data();
RCLCPP_INFO_STREAM( RCLCPP_INFO_STREAM(
this->nh_->get_logger(), "IMU " << this->dataPtr->imus_[i]->name << this->nh_->get_logger(), "IMU " << this->dataPtr->imus_[i]->name <<
@ -568,34 +656,61 @@ namespace gz_quadruped_hardware {
} }
} }
} }
for (unsigned int i = 0; i < this->dataPtr->ft_sensors_.size(); ++i)
{
if (this->dataPtr->ft_sensors_[i]->topicName.empty())
{
auto sensorTopicComp = this->dataPtr->ecm->Component<
sim::components::SensorTopic>(this->dataPtr->ft_sensors_[i]->sim_ft_sensors_);
if (sensorTopicComp)
{
this->dataPtr->ft_sensors_[i]->topicName = sensorTopicComp->Data();
RCLCPP_INFO_STREAM(
this->nh_->get_logger(), "ForceTorque " << this->dataPtr->ft_sensors_[i]->name <<
" has a topic name: " << sensorTopicComp->Data());
this->dataPtr->node.Subscribe(
this->dataPtr->ft_sensors_[i]->topicName, &ForceTorqueData::OnForceTorque,
this->dataPtr->ft_sensors_[i].get());
}
}
}
return hardware_interface::return_type::OK; return hardware_interface::return_type::OK;
} }
hardware_interface::return_type GazeboSimSystem::write( hardware_interface::return_type GazeboSimSystem::write(
const rclcpp::Time & /*time*/, const rclcpp::Time& /*time*/,
const rclcpp::Duration & /*period*/) { const rclcpp::Duration& /*period*/)
for (unsigned int i = 0; i < this->dataPtr->joints_.size(); ++i) { {
if (this->dataPtr->joints_[i].sim_joint == sim::kNullEntity) { for (unsigned int i = 0; i < this->dataPtr->joints_.size(); ++i)
{
if (this->dataPtr->joints_[i].sim_joint == sim::kNullEntity)
{
continue; continue;
} }
if (!this->dataPtr->ecm->Component<sim::components::JointForceCmd>( if (!this->dataPtr->ecm->Component<sim::components::JointForceCmd>(
this->dataPtr->joints_[i].sim_joint)) { this->dataPtr->joints_[i].sim_joint))
{
this->dataPtr->ecm->CreateComponent( this->dataPtr->ecm->CreateComponent(
this->dataPtr->joints_[i].sim_joint, this->dataPtr->joints_[i].sim_joint,
sim::components::JointForceCmd({0})); sim::components::JointForceCmd({0}));
} else { }
else
{
const auto jointEffortCmd = const auto jointEffortCmd =
this->dataPtr->ecm->Component<sim::components::JointForceCmd>( this->dataPtr->ecm->Component<sim::components::JointForceCmd>(
this->dataPtr->joints_[i].sim_joint); this->dataPtr->joints_[i].sim_joint);
const double torque = this->dataPtr->joints_[i].joint_effort_cmd + const double torque = this->dataPtr->joints_[i].joint_effort_cmd +
this->dataPtr->joints_[i].joint_kp_cmd * ( this->dataPtr->joints_[i].joint_kp_cmd * (
this->dataPtr->joints_[i].joint_position_cmd - this->dataPtr->joints_[i].joint_position_cmd -
this->dataPtr->joints_[i].joint_position) this->dataPtr->joints_[i].joint_position)
+ +
this->dataPtr->joints_[i].joint_kd_cmd * ( this->dataPtr->joints_[i].joint_kd_cmd * (
this->dataPtr->joints_[i].joint_velocity_cmd - this->dataPtr->joints_[i].joint_velocity_cmd -
this->dataPtr->joints_[i].joint_velocity); this->dataPtr->joints_[i].joint_velocity);
*jointEffortCmd = sim::components::JointForceCmd( *jointEffortCmd = sim::components::JointForceCmd(
{torque}); {torque});

6
libraries/gz_quadruped_playground/launch/gazebo.launch.py
View File

@ -120,9 +120,9 @@ 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",
"/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"
], ],
output="screen", output="screen",
parameters=[ parameters=[

2
libraries/gz_quadruped_playground/package.xml
View File

@ -10,8 +10,8 @@
<exec_depend>xacro</exec_depend> <exec_depend>xacro</exec_depend>
<exec_depend>joint_state_publisher</exec_depend> <exec_depend>joint_state_publisher</exec_depend>
<exec_depend>robot_state_publisher</exec_depend> <exec_depend>robot_state_publisher</exec_depend>
<exec_depend>leg_pd_controller</exec_depend>
<exec_depend>imu_sensor_broadcaster</exec_depend> <exec_depend>imu_sensor_broadcaster</exec_depend>
<exec_depend>gz_quadruped_hardware</exec_depend>
<export> <export>
<build_type>ament_cmake</build_type> <build_type>ament_cmake</build_type>

4
libraries/gz_quadruped_playground/worlds/default.sdf
View File

@ -82,10 +82,6 @@ gz service -s /world/empty/create \
filename="gz-sim-scene-broadcaster-system" filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster"> name="gz::sim::systems::SceneBroadcaster">
</plugin> </plugin>
<plugin
filename="gz-sim-contact-system"
name="gz::sim::systems::Contact">
</plugin>
<light type="directional" name="sun"> <light type="directional" name="sun">
<cast_shadows>true</cast_shadows> <cast_shadows>true</cast_shadows>