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Gazebo
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10
README.md
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# Quadruped ROS2
# Quadruped ROS2 Control
This repository contains the ros2-control based controllers for the quadruped robot.
* [Controllers](controllers): contains the ros2-control controllers
* [Commands](commands): contains command node used to send command to the controller
* [Descriptions](descriptions): contains the urdf model of the robot
* [Hardwares](hardwares): contains the ros2-control hardware interface for the robot
## 1. Build
* rosdep
```bash
cd ~/ros2_ws

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commands/readme.md → commands/README.md
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controllers/leg_pd_controller/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(leg_pd_controller)
if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif ()
set(CMAKE_BUILD_TYPE Release)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
set(CONTROLLER_INCLUDE_DEPENDS
pluginlib
rcpputils
controller_interface
realtime_tools
)
# find dependencies
find_package(ament_cmake REQUIRED)
foreach (Dependency IN ITEMS ${CONTROLLER_INCLUDE_DEPENDS})
find_package(${Dependency} REQUIRED)
endforeach ()
add_library(${PROJECT_NAME} SHARED
src/LegPdController.cpp
)
target_include_directories(${PROJECT_NAME}
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
ament_target_dependencies(
${PROJECT_NAME} PUBLIC
${CONTROLLER_INCLUDE_DEPENDS}
)
pluginlib_export_plugin_description_file(controller_interface leg_pd_controller.xml)
install(
DIRECTORY include/
DESTINATION include/${PROJECT_NAME}
)
install(
TARGETS ${PROJECT_NAME}
EXPORT export_${PROJECT_NAME}
ARCHIVE DESTINATION lib/${PROJECT_NAME}
LIBRARY DESTINATION lib/${PROJECT_NAME}
RUNTIME DESTINATION bin
)
ament_export_dependencies(${CONTROLLER_INCLUDE_DEPENDS})
ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
if (BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif ()
ament_package()

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controllers/leg_pd_controller/LICENSE Normal file
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controllers/leg_pd_controller/README.md Normal file
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# Leg PD Controller
This package contains a simple PD controller for the leg joints of the quadruped robot. By using this controller, other ros2-control based on position control can also work on the hardware interface which only contain effort control (for example, gazebo ros2 control).
## 1. Interfaces
Provided interfaces:
* joint position
* joint velocity
* joint effort
* KP
* KD
Required hardware interfaces:
* command:
* joint effort
* state:
* joint position
* joint velocity
## 2. Build
```bash
cd ~/ros2_ws
colcon build --packages-up-to leg_pd_controller
```
## 3. Run
* [Go1/A1 in gazebo simulation](../../descriptions/quadruped_gazebo)

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controllers/leg_pd_controller/include/leg_pd_controller/LegPdController.h Normal file
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//
// Created by tlab-uav on 24-9-19.
//
#ifndef LEGPDCONTROLLER_H
#define LEGPDCONTROLLER_H
#include <controller_interface/chainable_controller_interface.hpp>
#include <controller_interface/controller_interface.hpp>
namespace leg_pd_controller {
class LegPdController final : public controller_interface::ChainableControllerInterface {
public:
controller_interface::CallbackReturn on_init() override;
controller_interface::InterfaceConfiguration command_interface_configuration() const override;
controller_interface::InterfaceConfiguration state_interface_configuration() const override;
controller_interface::CallbackReturn on_configure(
const rclcpp_lifecycle::State &previous_state) override;
controller_interface::CallbackReturn on_activate(
const rclcpp_lifecycle::State &previous_state) override;
controller_interface::CallbackReturn on_deactivate(
const rclcpp_lifecycle::State &previous_state) override;
bool on_set_chained_mode(bool chained_mode) override;
controller_interface::return_type update_and_write_commands(
const rclcpp::Time &time, const rclcpp::Duration &period) override;
protected:
std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces() override;
controller_interface::return_type update_reference_from_subscribers(
const rclcpp::Time &time, const rclcpp::Duration &period) override;
std::vector<double> joint_effort_command_;
std::vector<double> joint_position_command_;
std::vector<double> joint_velocities_command_;
std::vector<double> joint_kp_command_;
std::vector<double> joint_kd_command_;
std::vector<std::string> joint_names_;
std::vector<std::string> state_interface_types_;
std::vector<std::string> reference_interface_types_;
std::vector<std::reference_wrapper<hardware_interface::LoanedCommandInterface> >
joint_effort_command_interface_;
std::vector<std::reference_wrapper<hardware_interface::LoanedStateInterface> >
joint_position_state_interface_;
std::vector<std::reference_wrapper<hardware_interface::LoanedStateInterface> >
joint_velocity_state_interface_;
std::unordered_map<
std::string, std::vector<std::reference_wrapper<hardware_interface::LoanedStateInterface> > *>
state_interface_map_ = {
{"position", &joint_position_state_interface_},
{"velocity", &joint_velocity_state_interface_}
};
};
}
#endif //LEGPDCONTROLLER_H

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controllers/leg_pd_controller/leg_pd_controller.xml Normal file
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<library path="leg_pd_controller">
<class name="leg_pd_controller/LegPdController"
type="leg_pd_controller::LegPdController"
base_class_type="controller_interface::ChainableControllerInterface">
<description>
PD controller for simulation which only support effort command input
</description>
</class>
</library>

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controllers/leg_pd_controller/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>leg_pd_controller</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="biao876990970@hotmail.com">Huang Zhenbiao</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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controllers/leg_pd_controller/src/LegPdController.cpp Normal file
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//
// Created by tlab-uav on 24-9-19.
//
#include "leg_pd_controller/LegPdController.h"
namespace leg_pd_controller {
using config_type = controller_interface::interface_configuration_type;
controller_interface::CallbackReturn LegPdController::on_init() {
try {
joint_names_ = auto_declare<std::vector<std::string> >("joints", joint_names_);
reference_interface_types_ =
auto_declare<std::vector<std::string> >("reference_interfaces", reference_interface_types_);
state_interface_types_ = auto_declare<std::vector<
std::string> >("state_interfaces", state_interface_types_);
} catch (const std::exception &e) {
fprintf(stderr, "Exception thrown during init stage with message: %s \n", e.what());
return controller_interface::CallbackReturn::ERROR;
}
const size_t joint_num = joint_names_.size();
joint_effort_command_.assign(joint_num, 0);
joint_position_command_.assign(joint_num, 0);
joint_velocities_command_.assign(joint_num, 0);
joint_kp_command_.assign(joint_num, 0);
joint_kd_command_.assign(joint_num, 0);
return CallbackReturn::SUCCESS;
}
controller_interface::InterfaceConfiguration LegPdController::command_interface_configuration() const {
controller_interface::InterfaceConfiguration conf = {config_type::INDIVIDUAL, {}};
conf.names.reserve(joint_names_.size());
for (const auto &joint_name: joint_names_) {
conf.names.push_back(joint_name + "/effort");
}
return conf;
}
controller_interface::InterfaceConfiguration LegPdController::state_interface_configuration() const {
controller_interface::InterfaceConfiguration conf = {config_type::INDIVIDUAL, {}};
conf.names.reserve(joint_names_.size() * state_interface_types_.size());
for (const auto &joint_name: joint_names_) {
for (const auto &interface_type: state_interface_types_) {
conf.names.push_back(joint_name + "/" += interface_type);
}
}
return conf;
}
controller_interface::CallbackReturn LegPdController::on_configure(
const rclcpp_lifecycle::State & /*previous_state*/) {
return CallbackReturn::SUCCESS;
}
controller_interface::CallbackReturn LegPdController::on_activate(
const rclcpp_lifecycle::State & /*previous_state*/) {
joint_effort_command_interface_.clear();
joint_position_state_interface_.clear();
joint_velocity_state_interface_.clear();
// assign effort command interface
for (auto &interface: command_interfaces_) {
joint_effort_command_interface_.emplace_back(interface);
}
// assign state interfaces
for (auto &interface: state_interfaces_) {
state_interface_map_[interface.get_interface_name()]->push_back(interface);
}
return CallbackReturn::SUCCESS;
}
controller_interface::CallbackReturn LegPdController::on_deactivate(
const rclcpp_lifecycle::State & /*previous_state*/) {
release_interfaces();
return CallbackReturn::SUCCESS;
}
bool LegPdController::on_set_chained_mode(bool /*chained_mode*/) {
return true;
}
controller_interface::return_type LegPdController::update_and_write_commands(
const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) {
if (joint_names_.size() != joint_effort_command_.size() ||
joint_names_.size() != joint_kp_command_.size() ||
joint_names_.size() != joint_position_command_.size() ||
joint_names_.size() != joint_position_state_interface_.size() ||
joint_names_.size() != joint_velocity_state_interface_.size() ||
joint_names_.size() != joint_effort_command_interface_.size()) {
std::cout << "joint_names_.size() = " << joint_names_.size() << std::endl;
std::cout << "joint_effort_command_.size() = " << joint_effort_command_.size() << std::endl;
std::cout << "joint_kp_command_.size() = " << joint_kp_command_.size() << std::endl;
std::cout << "joint_position_command_.size() = " << joint_position_command_.size() << std::endl;
std::cout << "joint_position_state_interface_.size() = " << joint_position_state_interface_.size() << std::endl;
std::cout << "joint_velocity_state_interface_.size() = " << joint_velocity_state_interface_.size() << std::endl;
std::cout << "joint_effort_command_interface_.size() = " << joint_effort_command_interface_.size() << std::endl;
throw std::runtime_error("Mismatch in vector sizes in update_and_write_commands");
}
for (size_t i = 0; i < joint_names_.size(); ++i) {
// PD Controller
const double torque = joint_effort_command_[i] + joint_kp_command_[i] * (
joint_position_command_[i] - joint_position_state_interface_[i].get().get_value())
+
joint_kd_command_[i] * (
joint_velocities_command_[i] - joint_velocity_state_interface_[i].get().
get_value());
joint_effort_command_interface_[i].get().set_value(torque);
}
return controller_interface::return_type::OK;
}
std::vector<hardware_interface::CommandInterface> LegPdController::on_export_reference_interfaces() {
std::vector<hardware_interface::CommandInterface> reference_interfaces;
int ind = 0;
std::string controller_name = get_node()->get_name();
for (const auto &joint_name: joint_names_) {
reference_interfaces.emplace_back(controller_name, joint_name + "/position", &joint_position_command_[ind]);
reference_interfaces.emplace_back(controller_name, joint_name + "/velocity",
&joint_velocities_command_[ind]);
reference_interfaces.emplace_back(controller_name, joint_name + "/effort", &joint_effort_command_[ind]);
reference_interfaces.emplace_back(controller_name, joint_name + "/kp", &joint_kp_command_[ind]);
reference_interfaces.emplace_back(controller_name, joint_name + "/kd", &joint_kd_command_[ind]);
ind++;
}
return reference_interfaces;
}
controller_interface::return_type LegPdController::update_reference_from_subscribers(
const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) {
return controller_interface::return_type::OK;
}
}
#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(leg_pd_controller::LegPdController, controller_interface::ChainableControllerInterface);

5
controllers/unitree_guide_controller/CMakeLists.txt
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@ -77,11 +77,6 @@ install(
RUNTIME DESTINATION bin
)
install(
DIRECTORY launch config
DESTINATION share/${PROJECT_NAME}/
)
ament_export_dependencies(${CONTROLLER_INCLUDE_DEPENDS})
ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)

31
controllers/unitree_guide_controller/README.md
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@ -1,13 +1,34 @@
# Unitree Guide Controller
This is a ros2-control controller based on unitree guide. The original unitree guide project could be found [here](https://github.com/unitreerobotics/unitree_guide)
This is a ros2-control controller based on unitree guide. The original unitree guide project could be
found [here](https://github.com/unitreerobotics/unitree_guide). I used KDL for the kinematic and dynamic calculation, so
the controller performance has difference with the original one (sometimes very unstable).
## 1. Interfaces
Required hardware interfaces:
* command:
* joint position
* joint velocity
* joint effort
* KP
* KD
* state:
* joint effort
* joint position
* joint velocity
* imu sensor
* linear acceleration
* angular velocity
* orientation
## 2. Build
```bash
cd ~/ros2_ws
colcon build --packages-up-to unitree_guide_controller
```
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch unitree_guide_controller controller.launch.py
```
## 3. Run
* [Go2 in mujoco simulation](../../descriptions/go2_description)
* [Go1/A1 in gazebo simulation](../../descriptions/quadruped_gazebo)

28
controllers/unitree_guide_controller/config/controller.yaml
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@ -1,28 +0,0 @@
unitree_guide_controller:
ros__parameters:
type: unitree_guide_controller/UnitreeGuideController
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
- position
- velocity
- kp
- kd
state_interfaces:
- effort
- position
- velocity

4
controllers/unitree_guide_controller/include/unitree_guide_controller/UnitreeGuideController.h
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@ -81,7 +81,9 @@ namespace unitree_guide_controller {
std::vector<std::string> state_interface_types_;
std::string imu_name_;
std::string command_prefix_;
std::vector<std::string> imu_interface_types_;
std::vector<std::string> feet_names_;
rclcpp::Subscription<control_input_msgs::msg::Inputs>::SharedPtr control_input_subscription_;
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr robot_description_subscription_;
@ -89,7 +91,7 @@ namespace unitree_guide_controller {
std::unordered_map<
std::string, std::vector<std::reference_wrapper<hardware_interface::LoanedCommandInterface> > *>
command_interface_map_ = {
{"effort", &ctrl_comp_.joint_effort_command_interface_},
{"effort", &ctrl_comp_.joint_torque_command_interface_},
{"position", &ctrl_comp_.joint_position_command_interface_},
{"velocity", &ctrl_comp_.joint_velocity_command_interface_},
{"kp", &ctrl_comp_.joint_kp_command_interface_},

0
controllers/unitree_guide_controller/include/unitree_guide_controller/common/mathTypes.h Executable file → Normal file
View File

4
controllers/unitree_guide_controller/include/unitree_guide_controller/control/CtrlComponent.h
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@ -17,7 +17,7 @@
struct CtrlComponent {
std::vector<std::reference_wrapper<hardware_interface::LoanedCommandInterface> >
joint_effort_command_interface_;
joint_torque_command_interface_;
std::vector<std::reference_wrapper<hardware_interface::LoanedCommandInterface> >
joint_position_command_interface_;
std::vector<std::reference_wrapper<hardware_interface::LoanedCommandInterface> >
@ -54,7 +54,7 @@ struct CtrlComponent {
}
void clear() {
joint_effort_command_interface_.clear();
joint_torque_command_interface_.clear();
joint_position_command_interface_.clear();
joint_velocity_command_interface_.clear();
joint_kd_command_interface_.clear();

2
controllers/unitree_guide_controller/include/unitree_guide_controller/robot/QuadrupedRobot.h
View File

@ -21,7 +21,7 @@ public:
~QuadrupedRobot() = default;
void init(const std::string &robot_description);
void init(const std::string &robot_description, const std::vector<std::string> &feet_names);
/**
* Calculate the joint positions based on the foot end position

1
controllers/unitree_guide_controller/include/unitree_guide_controller/robot/RobotLeg.h
View File

@ -10,7 +10,6 @@
#include <kdl/chainiksolverpos_lma.hpp>
#include <kdl/chainjnttojacsolver.hpp>
#include <kdl_parser/kdl_parser.hpp>
#include <kdl/chainidsolver_recursive_newton_euler.hpp>
#include <unitree_guide_controller/common/mathTypes.h>
class RobotLeg {

43
controllers/unitree_guide_controller/launch/controller.launch.py
View File

@ -1,43 +0,0 @@
# Copyright 2023 ros2_control Development Team
#
# 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.
from launch import LaunchDescription
from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
def generate_launch_description():
robot_controllers = PathJoinSubstitution(
[
FindPackageShare("unitree_guide_controller"),
"config",
"controller.yaml",
]
)
robot_controller_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["unitree_guide_controller", "--param-file", robot_controllers],
)
nodes = [
robot_controller_spawner,
]
return LaunchDescription(nodes)

2
controllers/unitree_guide_controller/src/FSM/StateBalanceTest.cpp
View File

@ -89,7 +89,7 @@ void StateBalanceTest::calcTorque() {
for (int i = 0; i < 4; i++) {
KDL::JntArray torque = robot_model_.getTorque(force_feet_body.col(i), i);
for (int j = 0; j < 3; j++) {
ctrl_comp_.joint_effort_command_interface_[i * 3 + j].get().set_value(torque(j));
ctrl_comp_.joint_torque_command_interface_[i * 3 + j].get().set_value(torque(j));
ctrl_comp_.joint_position_command_interface_[i * 3 + j].get().set_value(current_joints[i](j));
}
}

6
controllers/unitree_guide_controller/src/FSM/StateFixedDown.cpp
View File

@ -25,9 +25,9 @@ void StateFixedDown::run() {
ctrl_comp_.joint_position_command_interface_[i].get().set_value(
phase * target_pos_[i] + (1 - phase) * start_pos_[i]);
ctrl_comp_.joint_velocity_command_interface_[i].get().set_value(0);
ctrl_comp_.joint_effort_command_interface_[i].get().set_value(0);
ctrl_comp_.joint_kp_command_interface_[i].get().set_value(50.0);
ctrl_comp_.joint_kd_command_interface_[i].get().set_value(3.5);
ctrl_comp_.joint_torque_command_interface_[i].get().set_value(0);
ctrl_comp_.joint_kp_command_interface_[i].get().set_value(30.0);
ctrl_comp_.joint_kd_command_interface_[i].get().set_value(1.5);
}
}

2
controllers/unitree_guide_controller/src/FSM/StateFixedStand.cpp
View File

@ -25,7 +25,7 @@ void StateFixedStand::run() {
ctrl_comp_.joint_position_command_interface_[i].get().set_value(
phase * target_pos_[i] + (1 - phase) * start_pos_[i]);
ctrl_comp_.joint_velocity_command_interface_[i].get().set_value(0);
ctrl_comp_.joint_effort_command_interface_[i].get().set_value(0);
ctrl_comp_.joint_torque_command_interface_[i].get().set_value(0);
ctrl_comp_.joint_kp_command_interface_[i].get().set_value(
phase * 60.0 + (1 - phase) * 20.0);
ctrl_comp_.joint_kd_command_interface_[i].get().set_value(3.5);

2
controllers/unitree_guide_controller/src/FSM/StateFreeStand.cpp
View File

@ -20,7 +20,7 @@ StateFreeStand::StateFreeStand(CtrlComponent &ctrl_component) : FSMState(FSMStat
void StateFreeStand::enter() {
for (int i = 0; i < 12; i++) {
ctrl_comp_.joint_kp_command_interface_[i].get().set_value(180);
ctrl_comp_.joint_kp_command_interface_[i].get().set_value(100);
ctrl_comp_.joint_kd_command_interface_[i].get().set_value(5);
}

2
controllers/unitree_guide_controller/src/FSM/StatePassive.cpp
View File

@ -12,7 +12,7 @@ StatePassive::StatePassive(CtrlComponent &ctrlComp) : FSMState(
}
void StatePassive::enter() {
for (auto i: ctrl_comp_.joint_effort_command_interface_) {
for (auto i: ctrl_comp_.joint_torque_command_interface_) {
i.get().set_value(0);
}
for (auto i: ctrl_comp_.joint_position_command_interface_) {

2
controllers/unitree_guide_controller/src/FSM/StateSwingTest.cpp
View File

@ -99,6 +99,6 @@ void StateSwingTest::torqueCtrl() const {
KDL::JntArray torque0 = robot_model_.getTorque(force0, 0);
for (int i = 0; i < 3; i++) {
ctrl_comp_.joint_effort_command_interface_[i].get().set_value(torque0(i));
ctrl_comp_.joint_torque_command_interface_[i].get().set_value(torque0(i));
}
}

4
controllers/unitree_guide_controller/src/FSM/StateTrotting.cpp
View File

@ -64,7 +64,7 @@ void StateTrotting::run() {
}
void StateTrotting::exit() {
wave_generator_.status_ = WaveStatus::SWING_ALL;
wave_generator_.status_ = WaveStatus::STANCE_ALL;
}
FSMStateName StateTrotting::checkChange() {
@ -150,7 +150,7 @@ void StateTrotting::calcTau() {
for (int i = 0; i < 4; i++) {
KDL::JntArray torque = robot_model_.getTorque(force_feet_body_.col(i), i);
for (int j = 0; j < 3; j++) {
ctrl_comp_.joint_effort_command_interface_[i * 3 + j].get().set_value(torque(j));
ctrl_comp_.joint_torque_command_interface_[i * 3 + j].get().set_value(torque(j));
}
}
}

21
controllers/unitree_guide_controller/src/UnitreeGuideController.cpp
View File

@ -15,7 +15,11 @@ namespace unitree_guide_controller {
conf.names.reserve(joint_names_.size() * command_interface_types_.size());
for (const auto &joint_name: joint_names_) {
for (const auto &interface_type: command_interface_types_) {
conf.names.push_back(joint_name + "/" += interface_type);
if (!command_prefix_.empty()) {
conf.names.push_back(command_prefix_ + "/" + joint_name + "/" += interface_type);
} else {
conf.names.push_back(joint_name + "/" += interface_type);
}
}
}
@ -84,6 +88,9 @@ namespace unitree_guide_controller {
// imu sensor
imu_name_ = auto_declare<std::string>("imu_name", imu_name_);
imu_interface_types_ = auto_declare<std::vector<std::string> >("imu_interfaces", state_interface_types_);
command_prefix_ = auto_declare<std::string>("command_prefix", command_prefix_);
feet_names_ =
auto_declare<std::vector<std::string> >("feet_names", feet_names_);
} catch (const std::exception &e) {
fprintf(stderr, "Exception thrown during init stage with message: %s \n", e.what());
return controller_interface::CallbackReturn::ERROR;
@ -105,9 +112,9 @@ namespace unitree_guide_controller {
});
robot_description_subscription_ = get_node()->create_subscription<std_msgs::msg::String>(
"~/robot_description", rclcpp::QoS(rclcpp::KeepLast(1)).transient_local(),
"/robot_description", rclcpp::QoS(rclcpp::KeepLast(1)).transient_local(),
[this](const std_msgs::msg::String::SharedPtr msg) {
ctrl_comp_.robot_model_.init(msg->data);
ctrl_comp_.robot_model_.init(msg->data, feet_names_);
ctrl_comp_.balance_ctrl_.init(ctrl_comp_.robot_model_);
});
@ -126,7 +133,12 @@ namespace unitree_guide_controller {
// assign command interfaces
for (auto &interface: command_interfaces_) {
command_interface_map_[interface.get_interface_name()]->push_back(interface);
std::string interface_name = interface.get_interface_name();
if (const size_t pos = interface_name.find('/'); pos != std::string::npos) {
command_interface_map_[interface_name.substr(pos + 1)]->push_back(interface);
} else {
command_interface_map_[interface_name]->push_back(interface);
}
}
// assign state interfaces
@ -138,6 +150,7 @@ namespace unitree_guide_controller {
}
}
// Create FSM List
state_list_.passive = std::make_shared<StatePassive>(ctrl_comp_);
state_list_.fixedDown = std::make_shared<StateFixedDown>(ctrl_comp_);
state_list_.fixedStand = std::make_shared<StateFixedStand>(ctrl_comp_);

4
controllers/unitree_guide_controller/src/gait/WaveGenerator.cpp
View File

@ -11,8 +11,8 @@
WaveGenerator::WaveGenerator() {
phase_past_ << 0.5, 0.5, 0.5, 0.5;
contact_past_.setZero();
status_past_ = WaveStatus::SWING_ALL;
status_ = WaveStatus::SWING_ALL;
status_past_ = WaveStatus::STANCE_ALL;
status_ = WaveStatus::STANCE_ALL;
}
void WaveGenerator::init(const double period, const double st_ratio, const Vec4 &bias) {

12
controllers/unitree_guide_controller/src/robot/QuadrupedRobot.cpp
View File

@ -6,14 +6,15 @@
#include "unitree_guide_controller/control/CtrlComponent.h"
#include "unitree_guide_controller/robot/QuadrupedRobot.h"
void QuadrupedRobot::init(const std::string &robot_description) {
void QuadrupedRobot::init(const std::string &robot_description, const std::vector<std::string> &feet_names) {
KDL::Tree robot_tree;
kdl_parser::treeFromString(robot_description, robot_tree);
robot_tree.getChain("base", "FR_foot", fr_chain_);
robot_tree.getChain("base", "FL_foot", fl_chain_);
robot_tree.getChain("base", "RR_foot", rr_chain_);
robot_tree.getChain("base", "RL_foot", rl_chain_);
robot_tree.getChain("base", feet_names[0], fr_chain_);
robot_tree.getChain("base", feet_names[1], fl_chain_);
robot_tree.getChain("base", feet_names[2], rr_chain_);
robot_tree.getChain("base", feet_names[3], rl_chain_);
robot_legs_.resize(4);
robot_legs_[0] = std::make_shared<RobotLeg>(fr_chain_);
@ -70,6 +71,7 @@ std::vector<KDL::Frame> QuadrupedRobot::getFeet2BPositions() const {
result.resize(4);
for (int i = 0; i < 4; i++) {
result[i] = robot_legs_[i]->calcPEe2B(current_joint_pos_[i]);
result[i].M = KDL::Rotation::Identity();
}
return result;
}

1
controllers/unitree_guide_controller/src/robot/RobotLeg.cpp
View File

@ -18,7 +18,6 @@ RobotLeg::RobotLeg(const KDL::Chain &chain) {
KDL::Frame RobotLeg::calcPEe2B(const KDL::JntArray &joint_positions) const {
KDL::Frame pEe;
fk_pose_solver_->JntToCart(joint_positions, pEe);
pEe.M = KDL::Rotation::Identity();
return pEe;
}

6
descriptions/go1_description/config/robot_control.yaml
View File

@ -47,6 +47,12 @@ unitree_guide_controller:
- position
- velocity
feet_names:
- FR_foot
- FL_foot
- RR_foot
- RL_foot
imu_name: "imu_sensor"
imu_interfaces:

6
descriptions/go2_description/config/robot_control.yaml
View File

@ -47,6 +47,12 @@ unitree_guide_controller:
- position
- velocity
feet_names:
- FR_foot
- FL_foot
- RR_foot
- RL_foot
imu_name: "imu_sensor"
imu_interfaces:

3
descriptions/go2_description/launch/hardware.launch.py
View File

@ -48,9 +48,6 @@ def launch_setup(context, *args, **kwargs):
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_controllers],
remappings=[
("~/robot_description", "/robot_description"),
],
output="both",
)

0
descriptions/quadruped_gazebo/readme.md → descriptions/quadruped_gazebo/README.md
View File

17
descriptions/quadruped_gazebo/config/jtc.yaml
View File

@ -1,17 +0,0 @@
# Controller Manager configuration
controller_manager:
ros__parameters:
update_rate: 1000 # Hz
use_sim_time: true # If running in simulation
# Define the available controllers
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
imu_sensor_broadcaster:
type: imu_sensor_broadcaster/IMUSensorBroadcaster
imu_sensor_broadcaster:
ros__parameters:
sensor_name: "imu_sensor"
frame_id: "imu_sensor"

94
descriptions/quadruped_gazebo/config/robot_control.yaml Normal file
View File

@ -0,0 +1,94 @@
# Controller Manager configuration
controller_manager:
ros__parameters:
update_rate: 500 # Hz
# Define the available controllers
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
imu_sensor_broadcaster:
type: imu_sensor_broadcaster/IMUSensorBroadcaster
leg_pd_controller:
type: leg_pd_controller/LegPdController
unitree_guide_controller:
type: unitree_guide_controller/UnitreeGuideController
imu_sensor_broadcaster:
ros__parameters:
sensor_name: "imu_sensor"
frame_id: "imu_sensor"
leg_pd_controller:
ros__parameters:
joints:
- RF_HAA
- RF_HFE
- RF_KFE
- LF_HAA
- LF_HFE
- LF_KFE
- RH_HAA
- RH_HFE
- RH_KFE
- LH_HAA
- LH_HFE
- LH_KFE
command_interfaces:
- effort
state_interfaces:
- position
- velocity
unitree_guide_controller:
ros__parameters:
command_prefix: "leg_pd_controller"
joints:
- RF_HAA
- RF_HFE
- RF_KFE
- LF_HAA
- LF_HFE
- LF_KFE
- RH_HAA
- RH_HFE
- RH_KFE
- LH_HAA
- LH_HFE
- LH_KFE
command_interfaces:
- effort
- position
- velocity
- kp
- kd
state_interfaces:
- effort
- position
- velocity
feet_names:
- RF_FOOT
- LF_FOOT
- RH_FOOT
- LH_FOOT
imu_name: "imu_sensor"
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

12
descriptions/quadruped_gazebo/config/visualize_urdf.rviz
View File

@ -10,7 +10,7 @@ Panels:
- /RobotModel1
- /RobotModel1/Description Topic1
Splitter Ratio: 0.5
Tree Height: 543
Tree Height: 301
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
@ -235,10 +235,10 @@ Visualization Manager:
Window Geometry:
Displays:
collapsed: false
Height: 1061
Height: 555
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001f40000031bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007300000000700000031b0000018600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015d0000031bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000700000031b0000013800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000065a0000005efc0100000002fb0000000800540069006d006501000000000000065a0000047a00fffffffb0000000800540069006d006501000000000000045000000000000000000000065a0000031b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000400000000000001f40000031bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007300000000700000031b000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015d0000031bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000700000031b000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002e50000005efc0100000002fb0000000800540069006d00650100000000000002e50000026f00fffffffb0000000800540069006d00650100000000000004500000000000000000000002e50000016900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@ -247,6 +247,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
Width: 1626
X: 787
Y: 356
Width: 741
X: 773
Y: 267

90
descriptions/quadruped_gazebo/launch/gazebo.launch.py
View File

@ -3,9 +3,10 @@ import os
import xacro
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction, IncludeLaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction, IncludeLaunchDescription, RegisterEventHandler
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import PathJoinSubstitution
from launch.event_handlers import OnProcessExit
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
@ -29,33 +30,70 @@ def launch_setup(context, *args, **kwargs):
arguments=['-topic', 'robot_description', '-name',
robot_type, '-allow_renaming', 'true', '-z', '0.5'],
)
robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
parameters=[
{
'publish_frequency': 20.0,
'use_tf_static': True,
'robot_description': robot_description,
'ignore_timestamp': True
}
],
)
joint_state_publisher = Node(
package="controller_manager",
executable="spawner",
arguments=["joint_state_broadcaster",
"--controller-manager", "/controller_manager"],
)
imu_sensor_broadcaster = Node(
package="controller_manager",
executable="spawner",
arguments=["imu_sensor_broadcaster",
"--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",
arguments=["unitree_guide_controller", "--controller-manager", "/controller_manager"],
)
return [
Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
parameters=[
{
'use_sim_time': True,
'publish_frequency': 100.0,
'use_tf_static': True,
'robot_description': robot_description
}
],
),
Node(
package="controller_manager",
executable="spawner",
arguments=["joint_state_broadcaster",
"--controller-manager", "/controller_manager"],
),
Node(
package="controller_manager",
executable="spawner",
arguments=["imu_sensor_broadcaster",
"--controller-manager", "/controller_manager"],
),
robot_state_publisher,
gz_spawn_entity,
joint_state_publisher,
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=joint_state_publisher,
on_exit=[imu_sensor_broadcaster],
)
),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=imu_sensor_broadcaster,
on_exit=[leg_pd_controller],
)
),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=leg_pd_controller,
on_exit=[unitree_guide_controller],
)
),
]

43
descriptions/quadruped_gazebo/urdf/common/leg.xacro
View File

@ -8,7 +8,7 @@
<joint name="${prefix}_HAA" type="revolute">
<xacro:insert_block name="origin"/>
<parent link="base"/>
<parent link="trunk"/>
<child link="${prefix}_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
@ -40,7 +40,7 @@
<mesh filename="${mesh_path}/hip.dae"
scale="1 1 1"/>
</geometry>
<material name="orange"/>
<!-- <material name="orange"/>-->
</visual>
<collision>
<origin rpy="${pi/2.0} 0 0" xyz="0 0 0"/>
@ -81,7 +81,7 @@
scale="1 1 1"/>
</xacro:if>
</geometry>
<material name="orange"/>
<!-- <material name="orange"/>-->
</visual>
<collision>
<origin rpy="0 ${pi/2.0+0.1} 0" xyz="${thigh_x_offset} 0 ${-thigh_length/2.0}"/>
@ -121,7 +121,7 @@
<mesh filename="${mesh_path}/calf.dae"
scale="1 1 1"/>
</geometry>
<material name="orange"/>
<!-- <material name="orange"/>-->
</visual>
<collision>
<origin rpy="0 ${pi/2.0} 0" xyz="${calf_x_offset} 0 ${-calf_length/2.0}"/>
@ -151,7 +151,7 @@
<geometry>
<sphere radius="${foot_radius-0.01}"/>
</geometry>
<material name="orange"/>
<!-- <material name="orange"/>-->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
@ -178,26 +178,53 @@
<gazebo reference="${prefix}_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
<visual>
<material>
<ambient>.5 .5 .5 1.0</ambient>
<diffuse>.5 .5 .5 1.0</diffuse>
<specular>.5 .5 .5 1.0</specular>
</material>
</visual>
</gazebo>
<gazebo reference="${prefix}_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>0</self_collide>
<material>Gazebo/DarkGrey</material>
<visual>
<material>
<ambient>.175 .175 .175 1.0</ambient>
<diffuse>.175 .175 .175 1.0</diffuse>
<specular>.175 .175 .175 1.0</specular>
</material>
</visual>
<kp value="1000000.0"/>
<kd value="100.0"/>
</gazebo>
<gazebo reference="${prefix}_calf">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<visual>
<material>
<ambient>.5 .5 .5 1.0</ambient>
<diffuse>.5 .5 .5 1.0</diffuse>
<specular>.5 .5 .5 1.0</specular>
</material>
</visual>
</gazebo>
<gazebo reference="${prefix}_FOOT">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<visual>
<material>
<ambient>.175 .175 .175 1.0</ambient>
<diffuse>.175 .175 .175 1.0</diffuse>
<specular>.175 .175 .175 1.0</specular>
</material>
</visual>
<kp value="1000000.0"/>
<kd value="100.0"/>

94
descriptions/quadruped_gazebo/urdf/common/ros2_control.xacro
View File

@ -12,21 +12,63 @@
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
</joint>
<joint name="RF_HFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RF_KFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="LF_HAA">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
</joint>
<joint name="LF_HFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="LF_KFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RH_HAA">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
</joint>
<joint name="RH_HFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RH_KFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="LH_HAA">
<command_interface name="effort" initial_value="0.0"/>
@ -35,54 +77,12 @@
<state_interface name="effort"/>
</joint>
<joint name="RF_HFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="LF_HFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RH_HFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="LH_HFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RF_KFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="LF_KFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="RH_KFE">
<command_interface name="effort" initial_value="0.0"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
</joint>
<joint name="LH_KFE">
<command_interface name="effort" initial_value="0.0"/>
@ -133,7 +133,7 @@
<!-- Gazebo's ros2_control plugin -->
<gazebo>
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>$(find quadruped_gazebo)/config/jtc.yaml</parameters>
<parameters>$(find quadruped_gazebo)/config/robot_control.yaml</parameters>
</plugin>
<plugin filename="gz-sim-imu-system"
name="gz::sim::systems::Imu">

10
descriptions/quadruped_gazebo/urdf/go1/const.xacro
View File

@ -128,4 +128,14 @@
<!-- foot -->
<xacro:property name="foot_mass" value="0.06"/>
<gazebo reference="trunk">
<visual name="DarkGrey">
<material>
<ambient>.5 .5 .5 1.0</ambient>
<diffuse>.5 .5 .5 1.0</diffuse>
<specular>.5 .5 .5 1.0</specular>
</material>
</visual>
</gazebo>
</robot>

17
descriptions/quadruped_gazebo/urdf/robot.xacro
View File

@ -13,6 +13,21 @@
<xacro:property name="mesh_path" value="file://$(find quadruped_gazebo)/meshes/$(arg robot_type)"/>
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
@ -35,7 +50,7 @@
</inertial>
</link>
<xacro:IMU connected_to="base" imu_name="base_imu" xyz="0. 0. 0." rpy="0. 0. 0."/>
<xacro:IMU connected_to="trunk" imu_name="base_imu" xyz="0. 0. 0." rpy="0. 0. 0."/>
<xacro:leg prefix="LF" mesh_path="${mesh_path}" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True">

4
hardwares/hardware_unitree_mujoco/README.md
View File

@ -1,5 +1,9 @@
# Hardware Unitree Mujoco
This package contains the hardware interface based on [unitree_sdk2](https://github.com/unitreerobotics/unitree_sdk2) to control the Unitree robot in Mujoco simulator.
In theory, it also can communicate with real robot, but it is not tested yet. You can use go2 simulation in [unitree_mujoco](https://github.com/unitreerobotics/unitree_mujoco).
* build
```bash
cd ~/ros2_ws

2
hardwares/hardware_unitree_mujoco/include/hardware_unitree_mujoco/HardwareUnitree.h
View File

@ -26,7 +26,7 @@ public:
hardware_interface::return_type write(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override;
protected:
std::vector<double> joint_effort_command_;
std::vector<double> joint_torque_command_;
std::vector<double> joint_position_command_;
std::vector<double> joint_velocities_command_;
std::vector<double> joint_kp_command_;

10
hardwares/hardware_unitree_mujoco/src/HardwareUnitree.cpp
View File

@ -18,7 +18,7 @@ rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn Hardwa
return CallbackReturn::ERROR;
}
joint_effort_command_.assign(12, 0);
joint_torque_command_.assign(12, 0);
joint_position_command_.assign(12, 0);
joint_velocities_command_.assign(12, 0);
joint_kp_command_.assign(12, 0);
@ -100,7 +100,7 @@ std::vector<hardware_interface::CommandInterface> HardwareUnitree::export_comman
ind = 0;
for (const auto &joint_name: joint_interfaces["effort"]) {
command_interfaces.emplace_back(joint_name, "effort", &joint_effort_command_[ind]);
command_interfaces.emplace_back(joint_name, "effort", &joint_torque_command_[ind]);
command_interfaces.emplace_back(joint_name, "kp", &joint_kp_command_[ind]);
command_interfaces.emplace_back(joint_name, "kd", &joint_kd_command_[ind]);
ind++;
@ -108,7 +108,7 @@ std::vector<hardware_interface::CommandInterface> HardwareUnitree::export_comman
return command_interfaces;
}
return_type HardwareUnitree::read(const rclcpp::Time &time, const rclcpp::Duration &period) {
return_type HardwareUnitree::read(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) {
// joint states
for (int i(0); i < 12; ++i) {
joint_position_[i] = low_state_.motor_state()[i].q();
@ -131,7 +131,7 @@ return_type HardwareUnitree::read(const rclcpp::Time &time, const rclcpp::Durati
return return_type::OK;
}
return_type HardwareUnitree::write(const rclcpp::Time &, const rclcpp::Duration &) {
return_type HardwareUnitree::write(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) {
// send command
for (int i(0); i < 12; ++i) {
low_cmd_.motor_cmd()[i].mode() = 0x01;
@ -139,7 +139,7 @@ return_type HardwareUnitree::write(const rclcpp::Time &, const rclcpp::Duration
low_cmd_.motor_cmd()[i].dq() = static_cast<float>(joint_velocities_command_[i]);
low_cmd_.motor_cmd()[i].kp() = static_cast<float>(joint_kp_command_[i]);
low_cmd_.motor_cmd()[i].kd() = static_cast<float>(joint_kd_command_[i]);
low_cmd_.motor_cmd()[i].tau() = static_cast<float>(joint_effort_command_[i]);
low_cmd_.motor_cmd()[i].tau() = static_cast<float>(joint_torque_command_[i]);
}
low_cmd_.crc() = crc32_core(reinterpret_cast<uint32_t *>(&low_cmd_),