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quadruped_ros2_control
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tried go2 rl control but failed

This commit is contained in:
Zhenbiao Huang 2024-10-10 21:22:58 +08:00
parent ff374d7005
commit dc266f15d5
44 changed files with 513 additions and 272 deletions
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4
README.md
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@ -13,7 +13,8 @@ Todo List:
- [x] [Leg PD Controller](controllers/leg_pd_controller) - [x] [Leg PD Controller](controllers/leg_pd_controller)
- [x] [Contact Sensor Simulation](https://github.com/legubiao/unitree_mujoco) - [x] [Contact Sensor Simulation](https://github.com/legubiao/unitree_mujoco)
- [x] [OCS2 Quadruped Control](controllers/ocs2_quadruped_controller) - [x] [OCS2 Quadruped Control](controllers/ocs2_quadruped_controller)
- [ ] Learning-based Controller - [x] [Learning-based Controller](controllers/rl_quadruped_controller/)
- [ ] Fully understand the RL Workflow
Video for Unitree Guide Controller: Video for Unitree Guide Controller:
[![](http://i1.hdslb.com/bfs/archive/310e6208920985ac43015b2da31c01ec15e2c5f9.jpg)](https://www.bilibili.com/video/BV1aJbAeZEuo/) [![](http://i1.hdslb.com/bfs/archive/310e6208920985ac43015b2da31c01ec15e2c5f9.jpg)](https://www.bilibili.com/video/BV1aJbAeZEuo/)
@ -55,3 +56,4 @@ For more details, please refer to the [unitree guide controller](controllers/uni
[2] Qiayuan Liao. *legged\_control: An open-source NMPC, WBC, state estimation, and sim2real framework for legged robots*. [Online]. Available: [https://github.com/qiayuanl/legged_control](https://github.com/qiayuanl/legged_control) [2] Qiayuan Liao. *legged\_control: An open-source NMPC, WBC, state estimation, and sim2real framework for legged robots*. [Online]. Available: [https://github.com/qiayuanl/legged_control](https://github.com/qiayuanl/legged_control)
[3] Ziqi Fan. *rl\_sar: Simulation Verification and Physical Deployment of Robot Reinforcement Learning Algorithm.* 2024. Available: [https://github.com/fan-ziqi/rl_sar](https://github.com/fan-ziqi/rl_sar)

4
controllers/legged_gym_controller/CMakeLists.txt → controllers/rl_quadruped_controller/CMakeLists.txt
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@ -1,6 +1,6 @@
cmake_minimum_required(VERSION 3.18 FATAL_ERROR) cmake_minimum_required(VERSION 3.18 FATAL_ERROR)
set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD 17)
project(legged_gym_controller) project(rl_quadruped_controller)
if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic) add_compile_options(-Wall -Wextra -Wpedantic)
@ -58,7 +58,7 @@ ament_target_dependencies(
${dependencies} ${dependencies}
) )
pluginlib_export_plugin_description_file(controller_interface legged_gym_controller.xml) pluginlib_export_plugin_description_file(controller_interface rl_quadruped_controller.xml)
install( install(
DIRECTORY include/ DIRECTORY include/

6
controllers/legged_gym_controller/README.md → controllers/rl_quadruped_controller/README.md
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@ -1,4 +1,4 @@
# Legged Gym Controller # RL Quadruped Controller
This repository contains the reinforcement learning based controllers for the quadruped robot. This repository contains the reinforcement learning based controllers for the quadruped robot.
@ -20,10 +20,10 @@ rm -rf libtorch-shared-with-deps-latest.zip
echo 'export Torch_DIR=~/CLionProjects/libtorch' >> ~/.bashrc echo 'export Torch_DIR=~/CLionProjects/libtorch' >> ~/.bashrc
``` ```
### 2.2 Build Legged Gym Controller ### 2.2 Build Controller
```bash ```bash
cd ~/ros2_ws cd ~/ros2_ws
colcon build --packages-up-to legged_gym_controller colcon build --packages-up-to rl_quadruped_controller
``` ```
## 3. Launch ## 3. Launch

4
controllers/legged_gym_controller/include/legged_gym_controller/FSM/FSMState.h → controllers/rl_quadruped_controller/include/rl_quadruped_controller/FSM/FSMState.h
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@ -9,8 +9,8 @@
#include <utility> #include <utility>
#include <rclcpp/time.hpp> #include <rclcpp/time.hpp>
#include "legged_gym_controller/common/enumClass.h" #include "rl_quadruped_controller/common/enumClass.h"
#include "legged_gym_controller/control/CtrlComponent.h" #include "rl_quadruped_controller/control/CtrlComponent.h"
class FSMState { class FSMState {
public: public:

0
controllers/legged_gym_controller/include/legged_gym_controller/FSM/StateFixedDown.h → controllers/rl_quadruped_controller/include/rl_quadruped_controller/FSM/StateFixedDown.h
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0
controllers/legged_gym_controller/include/legged_gym_controller/FSM/StateFixedStand.h → controllers/rl_quadruped_controller/include/rl_quadruped_controller/FSM/StateFixedStand.h
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0
controllers/legged_gym_controller/include/legged_gym_controller/FSM/StatePassive.h → controllers/rl_quadruped_controller/include/rl_quadruped_controller/FSM/StatePassive.h
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0
controllers/legged_gym_controller/include/legged_gym_controller/FSM/StateRL.h → controllers/rl_quadruped_controller/include/rl_quadruped_controller/FSM/StateRL.h
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0
controllers/legged_gym_controller/include/legged_gym_controller/common/enumClass.h → controllers/rl_quadruped_controller/include/rl_quadruped_controller/common/enumClass.h
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0
controllers/legged_gym_controller/include/legged_gym_controller/control/CtrlComponent.h → controllers/rl_quadruped_controller/include/rl_quadruped_controller/control/CtrlComponent.h
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6
controllers/legged_gym_controller/package.xml → controllers/rl_quadruped_controller/package.xml
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@ -1,10 +1,10 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3"> <package format="3">
<name>legged_gym_controller</name> <name>rl_quadruped_controller</name>
<version>0.0.0</version> <version>0.0.0</version>
<description>TODO: Package description</description> <description>A Quadruped robot controller relied on .pt RL network</description>
<maintainer email="biao876990970@hotmail.com">biao</maintainer> <maintainer email="biao876990970@hotmail.com">Huang Zhenbiao</maintainer>
<license>Apache-2.0</license> <license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend> <buildtool_depend>ament_cmake</buildtool_depend>

6
controllers/legged_gym_controller/legged_gym_controller.xml → controllers/rl_quadruped_controller/rl_quadruped_controller.xml
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@ -1,6 +1,6 @@
<library path="legged_gym_controller"> <library path="rl_quadruped_controller">
<class name="legged_gym_controller/LeggedGymController" <class name="rl_quadruped_controller/LeggedGymController"
type="legged_gym_controller::LeggedGymController" type="rl_quadruped_controller::LeggedGymController"
base_class_type="controller_interface::ControllerInterface"> base_class_type="controller_interface::ControllerInterface">
<description> <description>
Quadruped Controller used RL-model trained in Legged Gym. Quadruped Controller used RL-model trained in Legged Gym.

2
controllers/legged_gym_controller/src/FSM/StateFixedDown.cpp → controllers/rl_quadruped_controller/src/FSM/StateFixedDown.cpp
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@ -2,7 +2,7 @@
// Created by tlab-uav on 24-9-11. // Created by tlab-uav on 24-9-11.
// //
#include "legged_gym_controller/FSM/StateFixedDown.h" #include "rl_quadruped_controller/FSM/StateFixedDown.h"
#include <cmath> #include <cmath>

2
controllers/legged_gym_controller/src/FSM/StateFixedStand.cpp → controllers/rl_quadruped_controller/src/FSM/StateFixedStand.cpp
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@ -2,7 +2,7 @@
// Created by biao on 24-9-10. // Created by biao on 24-9-10.
// //
#include "legged_gym_controller/FSM/StateFixedStand.h" #include "rl_quadruped_controller/FSM/StateFixedStand.h"
#include <cmath> #include <cmath>

2
controllers/legged_gym_controller/src/FSM/StatePassive.cpp → controllers/rl_quadruped_controller/src/FSM/StatePassive.cpp
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@ -2,7 +2,7 @@
// Created by tlab-uav on 24-9-6. // Created by tlab-uav on 24-9-6.
// //
#include "legged_gym_controller/FSM/StatePassive.h" #include "rl_quadruped_controller/FSM/StatePassive.h"
#include <iostream> #include <iostream>

2
controllers/legged_gym_controller/src/FSM/StateRL.cpp → controllers/rl_quadruped_controller/src/FSM/StateRL.cpp
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@ -2,7 +2,7 @@
// Created by biao on 24-10-6. // Created by biao on 24-10-6.
// //
#include "legged_gym_controller/FSM/StateRL.h" #include "rl_quadruped_controller/FSM/StateRL.h"
#include <rclcpp/logging.hpp> #include <rclcpp/logging.hpp>
#include <yaml-cpp/yaml.h> #include <yaml-cpp/yaml.h>

4
controllers/legged_gym_controller/src/LeggedGymController.cpp → controllers/rl_quadruped_controller/src/LeggedGymController.cpp
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@ -4,7 +4,7 @@
#include "LeggedGymController.h" #include "LeggedGymController.h"
namespace legged_gym_controller { namespace rl_quadruped_controller {
using config_type = controller_interface::interface_configuration_type; using config_type = controller_interface::interface_configuration_type;
controller_interface::InterfaceConfiguration LeggedGymController::command_interface_configuration() const { controller_interface::InterfaceConfiguration LeggedGymController::command_interface_configuration() const {
@ -191,4 +191,4 @@ namespace legged_gym_controller {
} }
#include "pluginlib/class_list_macros.hpp" #include "pluginlib/class_list_macros.hpp"
PLUGINLIB_EXPORT_CLASS(legged_gym_controller::LeggedGymController, controller_interface::ControllerInterface); PLUGINLIB_EXPORT_CLASS(rl_quadruped_controller::LeggedGymController, controller_interface::ControllerInterface);

12
controllers/legged_gym_controller/src/LeggedGymController.h → controllers/rl_quadruped_controller/src/LeggedGymController.h
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@ -5,14 +5,14 @@
#ifndef LEGGEDGYMCONTROLLER_H #ifndef LEGGEDGYMCONTROLLER_H
#define LEGGEDGYMCONTROLLER_H #define LEGGEDGYMCONTROLLER_H
#include <controller_interface/controller_interface.hpp> #include <controller_interface/controller_interface.hpp>
#include <legged_gym_controller/FSM/StateRL.h> #include <rl_quadruped_controller/FSM/StateRL.h>
#include "legged_gym_controller/FSM/StateFixedStand.h" #include "rl_quadruped_controller/FSM/StateFixedStand.h"
#include "legged_gym_controller/FSM/StateFixedDown.h" #include "rl_quadruped_controller/FSM/StateFixedDown.h"
#include "legged_gym_controller/FSM/StatePassive.h" #include "rl_quadruped_controller/FSM/StatePassive.h"
#include "legged_gym_controller/control/CtrlComponent.h" #include "rl_quadruped_controller/control/CtrlComponent.h"
namespace legged_gym_controller { namespace rl_quadruped_controller {
struct FSMStateList { struct FSMStateList {
std::shared_ptr<FSMState> invalid; std::shared_ptr<FSMState> invalid;
std::shared_ptr<StatePassive> passive; std::shared_ptr<StatePassive> passive;

0
controllers/legged_gym_controller/src/common/ObservationBuffer.cpp → controllers/rl_quadruped_controller/src/common/ObservationBuffer.cpp
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0
controllers/legged_gym_controller/src/common/ObservationBuffer.h → controllers/rl_quadruped_controller/src/common/ObservationBuffer.h
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4
descriptions/README.md
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@ -10,6 +10,8 @@ This folder contains the URDF and SRDF files for the quadruped robot.
* [B2](unitree/b2_description/) * [B2](unitree/b2_description/)
* Xiaomi * Xiaomi
* [Cyberdog](xiaomi/cyberdog_description/) * [Cyberdog](xiaomi/cyberdog_description/)
* Deep Robotics
* [Lite 3](deep_robotics/lite3_description/)
## Steps to transfer urdf to Mujoco model ## Steps to transfer urdf to Mujoco model
@ -27,7 +29,9 @@ This folder contains the URDF and SRDF files for the quadruped robot.
``` ```
## Dependencies for Gazebo Simulation ## Dependencies for Gazebo Simulation
Gazebo Simulation only tested on ROS2 Jazzy. I didn't add support for ROS2 Humble because the package name is different. Gazebo Simulation only tested on ROS2 Jazzy. I didn't add support for ROS2 Humble because the package name is different.
* Gazebo Harmonic * Gazebo Harmonic
```bash ```bash
sudo apt-get install ros-jazzy-ros-gz sudo apt-get install ros-jazzy-ros-gz

6
descriptions/deep_robotics/lite3_description/config/gazebo.yaml
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@ -16,8 +16,8 @@ controller_manager:
unitree_guide_controller: unitree_guide_controller:
type: unitree_guide_controller/UnitreeGuideController type: unitree_guide_controller/UnitreeGuideController
legged_gym_controller: rl_quadruped_controller:
type: legged_gym_controller/LeggedGymController type: rl_quadruped_controller/LeggedGymController
imu_sensor_broadcaster: imu_sensor_broadcaster:
ros__parameters: ros__parameters:
@ -98,7 +98,7 @@ unitree_guide_controller:
- linear_acceleration.y - linear_acceleration.y
- linear_acceleration.z - linear_acceleration.z
legged_gym_controller: rl_quadruped_controller:
ros__parameters: ros__parameters:
update_rate: 200 # Hz update_rate: 200 # Hz
config_folder: "/home/tlab-uav/ros2_ws/install/a1_description/share/a1_description/config/issacgym" config_folder: "/home/tlab-uav/ros2_ws/install/a1_description/share/a1_description/config/issacgym"

4
descriptions/deep_robotics/lite3_description/config/robot_control.yaml
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@ -16,8 +16,8 @@ controller_manager:
ocs2_quadruped_controller: ocs2_quadruped_controller:
type: ocs2_quadruped_controller/Ocs2QuadrupedController type: ocs2_quadruped_controller/Ocs2QuadrupedController
legged_gym_controller: rl_quadruped_controller:
type: legged_gym_controller/LeggedGymController type: rl_quadruped_controller/LeggedGymController
imu_sensor_broadcaster: imu_sensor_broadcaster:
ros__parameters: ros__parameters:

1
descriptions/deep_robotics/lite3_description/launch/unitree_guide.launch.py
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@ -4,7 +4,6 @@ import xacro
from ament_index_python.packages import get_package_share_directory from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction, IncludeLaunchDescription, RegisterEventHandler from launch.actions import DeclareLaunchArgument, OpaqueFunction, IncludeLaunchDescription, RegisterEventHandler
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.event_handlers import OnProcessExit from launch.event_handlers import OnProcessExit
from launch.substitutions import PathJoinSubstitution from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node from launch_ros.actions import Node

4
descriptions/unitree/a1_description/README.md
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@ -32,7 +32,7 @@ ros2 launch a1_description visualize.launch.py
source ~/ros2_ws/install/setup.bash source ~/ros2_ws/install/setup.bash
ros2 launch a1_description ocs2_control.launch.py ros2 launch a1_description ocs2_control.launch.py
``` ```
* Legged Gym Controller * RL Quadruped Controller
```bash ```bash
source ~/ros2_ws/install/setup.bash source ~/ros2_ws/install/setup.bash
ros2 launch a1_description rl_control.launch.py ros2 launch a1_description rl_control.launch.py
@ -44,7 +44,7 @@ ros2 launch a1_description visualize.launch.py
source ~/ros2_ws/install/setup.bash source ~/ros2_ws/install/setup.bash
ros2 launch a1_description gazebo_unitree_guide.launch.py ros2 launch a1_description gazebo_unitree_guide.launch.py
``` ```
* Legged Gym Controller * RL Quadruped Controller
```bash ```bash
source ~/ros2_ws/install/setup.bash source ~/ros2_ws/install/setup.bash
ros2 launch a1_description gazebo_rl_control.launch.py ros2 launch a1_description gazebo_rl_control.launch.py

8
descriptions/unitree/a1_description/config/gazebo.yaml
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@ -16,8 +16,8 @@ controller_manager:
unitree_guide_controller: unitree_guide_controller:
type: unitree_guide_controller/UnitreeGuideController type: unitree_guide_controller/UnitreeGuideController
legged_gym_controller: rl_quadruped_controller:
type: legged_gym_controller/LeggedGymController type: rl_quadruped_controller/LeggedGymController
imu_sensor_broadcaster: imu_sensor_broadcaster:
ros__parameters: ros__parameters:
@ -97,10 +97,10 @@ unitree_guide_controller:
- linear_acceleration.y - linear_acceleration.y
- linear_acceleration.z - linear_acceleration.z
legged_gym_controller: rl_quadruped_controller:
ros__parameters: ros__parameters:
update_rate: 200 # Hz update_rate: 200 # Hz
config_folder: "/home/tlab-uav/ros2_ws/install/a1_description/share/a1_description/config/issacgym" config_folder: "/home/biao/ros2_ws/install/a1_description/share/a1_description/config/issacgym"
command_prefix: "leg_pd_controller" command_prefix: "leg_pd_controller"
joints: joints:
- FL_hip_joint - FL_hip_joint

16
descriptions/unitree/a1_description/config/issacgym/config.yaml
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@ -15,14 +15,14 @@ clip_actions_upper: [100, 100, 100,
100, 100, 100, 100, 100, 100,
100, 100, 100, 100, 100, 100,
100, 100, 100] 100, 100, 100]
rl_kp: [13.5, 13.5, 13.5, rl_kp: [20.1, 20.1, 20.1,
13.5, 13.5, 13.5, 20.1, 20.1, 20.1,
13.5, 13.5, 13.5, 20.1, 20.1, 20.1,
13.5, 13.5, 13.5] 20.1, 20.1, 20.1]
rl_kd: [0.41, 0.41, 0.41, rl_kd: [0.54, 0.54, 0.54,
0.41, 0.41, 0.41, 0.54, 0.54, 0.54,
0.41, 0.41, 0.41, 0.54, 0.54, 0.54,
0.41, 0.41, 0.41] 0.54, 0.54, 0.54]
fixed_kp: [80, 80, 80, fixed_kp: [80, 80, 80,
80, 80, 80, 80, 80, 80,
80, 80, 80, 80, 80, 80,

6
descriptions/unitree/a1_description/config/robot_control.yaml
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@ -16,8 +16,8 @@ controller_manager:
ocs2_quadruped_controller: ocs2_quadruped_controller:
type: ocs2_quadruped_controller/Ocs2QuadrupedController type: ocs2_quadruped_controller/Ocs2QuadrupedController
legged_gym_controller: rl_quadruped_controller:
type: legged_gym_controller/LeggedGymController type: rl_quadruped_controller/LeggedGymController
imu_sensor_broadcaster: imu_sensor_broadcaster:
ros__parameters: ros__parameters:
@ -133,7 +133,7 @@ ocs2_quadruped_controller:
- FR - FR
- RR - RR
legged_gym_controller: rl_quadruped_controller:
ros__parameters: ros__parameters:
update_rate: 100 # Hz update_rate: 100 # Hz
joints: joints:

2
descriptions/unitree/a1_description/launch/gazebo_rl_control.launch.py
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@ -71,7 +71,7 @@ def generate_launch_description():
controller = Node( controller = Node(
package="controller_manager", package="controller_manager",
executable="spawner", executable="spawner",
arguments=["legged_gym_controller", "--controller-manager", "/controller_manager"], arguments=["rl_quadruped_controller", "--controller-manager", "/controller_manager"],
parameters=[ parameters=[
{ {
'config_folder': os.path.join(get_package_share_directory(package_description), 'config', 'config_folder': os.path.join(get_package_share_directory(package_description), 'config',

47
descriptions/unitree/a1_description/launch/rl_control.launch.py
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@ -12,16 +12,18 @@ from launch_ros.substitutions import FindPackageShare
package_description = "a1_description" package_description = "a1_description"
def process_xacro(context): def process_xacro():
robot_type_value = context.launch_configurations['robot_type']
pkg_path = os.path.join(get_package_share_directory(package_description)) pkg_path = os.path.join(get_package_share_directory(package_description))
xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro') xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
robot_description_config = xacro.process_file(xacro_file, mappings={'robot_type': robot_type_value}) robot_description_config = xacro.process_file(xacro_file)
return (robot_description_config.toxml(), robot_type_value) return robot_description_config.toxml()
def generate_launch_description():
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
robot_description = process_xacro()
def launch_setup(context, *args, **kwargs):
(robot_description, robot_type) = process_xacro(context)
robot_controllers = PathJoinSubstitution( robot_controllers = PathJoinSubstitution(
[ [
FindPackageShare(package_description), FindPackageShare(package_description),
@ -72,10 +74,17 @@ def launch_setup(context, *args, **kwargs):
controller = Node( controller = Node(
package="controller_manager", package="controller_manager",
executable="spawner", executable="spawner",
arguments=["legged_gym_controller", "--controller-manager", "/controller_manager"], arguments=["rl_quadruped_controller", "--controller-manager", "/controller_manager"],
) )
return [ return LaunchDescription([
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
),
robot_state_publisher, robot_state_publisher,
controller_manager, controller_manager,
joint_state_publisher, joint_state_publisher,
@ -91,26 +100,4 @@ def launch_setup(context, *args, **kwargs):
on_exit=[controller], on_exit=[controller],
) )
), ),
]
def generate_launch_description():
robot_type_arg = DeclareLaunchArgument(
'robot_type',
default_value='a1',
description='Type of the robot'
)
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
return LaunchDescription([
robot_type_arg,
OpaqueFunction(function=launch_setup),
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
)
]) ])

79
descriptions/unitree/a1_description/xacro/gazebo.xacro
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@ -117,13 +117,6 @@
<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>
<visual>
<material>
<ambient>.05 .05 .05 1.0</ambient>
<diffuse>.05 .05 .05 1.0</diffuse>
<specular>.05 .05 .05 1.0</specular>
</material>
</visual>
</gazebo> </gazebo>
<gazebo reference="imu_link"> <gazebo reference="imu_link">
@ -135,54 +128,54 @@
<imu> <imu>
<angular_velocity> <angular_velocity>
<x> <x>
<!-- <noise type="gaussian">--> <noise type="gaussian">
<!-- <mean>0.0</mean>--> <mean>0.0</mean>
<!-- <stddev>2e-4</stddev>--> <stddev>2e-4</stddev>
<!-- <bias_mean>0.0000075</bias_mean>--> <bias_mean>0.0000075</bias_mean>
<!-- <bias_stddev>0.0000008</bias_stddev>--> <bias_stddev>0.0000008</bias_stddev>
<!-- </noise>--> </noise>
</x> </x>
<y> <y>
<!-- <noise type="gaussian">--> <noise type="gaussian">
<!-- <mean>0.0</mean>--> <mean>0.0</mean>
<!-- <stddev>2e-4</stddev>--> <stddev>2e-4</stddev>
<!-- <bias_mean>0.0000075</bias_mean>--> <bias_mean>0.0000075</bias_mean>
<!-- <bias_stddev>0.0000008</bias_stddev>--> <bias_stddev>0.0000008</bias_stddev>
<!-- </noise>--> </noise>
</y> </y>
<z> <z>
<!-- <noise type="gaussian">--> <noise type="gaussian">
<!-- <mean>0.0</mean>--> <mean>0.0</mean>
<!-- <stddev>2e-4</stddev>--> <stddev>2e-4</stddev>
<!-- <bias_mean>0.0000075</bias_mean>--> <bias_mean>0.0000075</bias_mean>
<!-- <bias_stddev>0.0000008</bias_stddev>--> <bias_stddev>0.0000008</bias_stddev>
<!-- </noise>--> </noise>
</z> </z>
</angular_velocity> </angular_velocity>
<linear_acceleration> <linear_acceleration>
<x> <x>
<!-- <noise type="gaussian">--> <noise type="gaussian">
<!-- <mean>0.0</mean>--> <mean>0.0</mean>
<!-- <stddev>1.7e-2</stddev>--> <stddev>1.7e-2</stddev>
<!-- <bias_mean>0.1</bias_mean>--> <bias_mean>0.1</bias_mean>
<!-- <bias_stddev>0.001</bias_stddev>--> <bias_stddev>0.001</bias_stddev>
<!-- </noise>--> </noise>
</x> </x>
<y> <y>
<!-- <noise type="gaussian">--> <noise type="gaussian">
<!-- <mean>0.0</mean>--> <mean>0.0</mean>
<!-- <stddev>1.7e-2</stddev>--> <stddev>1.7e-2</stddev>
<!-- <bias_mean>0.1</bias_mean>--> <bias_mean>0.1</bias_mean>
<!-- <bias_stddev>0.001</bias_stddev>--> <bias_stddev>0.001</bias_stddev>
<!-- </noise>--> </noise>
</y> </y>
<z> <z>
<!-- <noise type="gaussian">--> <noise type="gaussian">
<!-- <mean>0.0</mean>--> <mean>0.0</mean>
<!-- <stddev>1.7e-2</stddev>--> <stddev>1.7e-2</stddev>
<!-- <bias_mean>0.1</bias_mean>--> <bias_mean>0.1</bias_mean>
<!-- <bias_stddev>0.001</bias_stddev>--> <bias_stddev>0.001</bias_stddev>
<!-- </noise>--> </noise>
</z> </z>
</linear_acceleration> </linear_acceleration>
</imu> </imu>

29
descriptions/unitree/a1_description/xacro/leg.xacro
View File

@ -174,25 +174,12 @@
<gazebo reference="${name}_hip"> <gazebo reference="${name}_hip">
<mu1>0.2</mu1> <mu1>0.2</mu1>
<mu2>0.2</mu2> <mu2>0.2</mu2>
<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>
<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>
<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"/> <kp value="1000000.0"/>
<kd value="100.0"/> <kd value="100.0"/>
</gazebo> </gazebo>
@ -201,26 +188,12 @@
<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>
<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>
<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>
<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"/> <kp value="1000000.0"/>
<kd value="100.0"/> <kd value="100.0"/>
</gazebo> </gazebo>

1
descriptions/unitree/a1_description/xacro/robot.xacro
View File

@ -53,7 +53,6 @@
<geometry> <geometry>
<mesh filename="file://$(find a1_description)/meshes/trunk.dae" scale="1 1 1"/> <mesh filename="file://$(find a1_description)/meshes/trunk.dae" scale="1 1 1"/>
</geometry> </geometry>
<material name="orange"/>
</visual> </visual>
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>

2
descriptions/unitree/go1_description/README.md
View File

@ -6,7 +6,7 @@ This repository contains the urdf model of go1.
## Build ## Build
```bash ```bash
cd ~/ros2_ws cd ~/ros2_ws
colcon build --packages-up-to go1_description colcon build --packages-up-to go1_description --symlink-install
``` ```
## Visualize the robot ## Visualize the robot

10
descriptions/unitree/go2_description/README.md
View File

@ -34,6 +34,11 @@ ros2 launch go2_description visualize.launch.py
source ~/ros2_ws/install/setup.bash source ~/ros2_ws/install/setup.bash
ros2 launch go2_description ocs2_control.launch.py ros2 launch go2_description ocs2_control.launch.py
``` ```
* RL Quadruped Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch go2_description rl_control.launch.py
```
### Gazebo Simulator ### Gazebo Simulator
* Unitree Guide Controller * Unitree Guide Controller
@ -41,6 +46,11 @@ ros2 launch go2_description visualize.launch.py
source ~/ros2_ws/install/setup.bash source ~/ros2_ws/install/setup.bash
ros2 launch go2_description gazebo_unitree_guide.launch.py ros2 launch go2_description gazebo_unitree_guide.launch.py
``` ```
* RL Quadruped Controller
```bash
source ~/ros2_ws/install/setup.bash
ros2 launch go2_description gazebo_rl_control.launch.py
```
## When used for isaac gym or other similiar engine ## When used for isaac gym or other similiar engine

8
descriptions/unitree/go2_description/config/gazebo.yaml
View File

@ -16,8 +16,8 @@ controller_manager:
unitree_guide_controller: unitree_guide_controller:
type: unitree_guide_controller/UnitreeGuideController type: unitree_guide_controller/UnitreeGuideController
legged_gym_controller: rl_quadruped_controller:
type: legged_gym_controller/LeggedGymController type: rl_quadruped_controller/LeggedGymController
imu_sensor_broadcaster: imu_sensor_broadcaster:
ros__parameters: ros__parameters:
@ -97,10 +97,10 @@ unitree_guide_controller:
- linear_acceleration.y - linear_acceleration.y
- linear_acceleration.z - linear_acceleration.z
legged_gym_controller: rl_quadruped_controller:
ros__parameters: ros__parameters:
update_rate: 200 # Hz update_rate: 200 # Hz
config_folder: "/home/tlab-uav/ros2_ws/install/a1_description/share/a1_description/config/issacgym" config_folder: "/home/biao/ros2_ws/install/go2_description/share/go2_description/config/issacgym"
command_prefix: "leg_pd_controller" command_prefix: "leg_pd_controller"
joints: joints:
- FL_hip_joint - FL_hip_joint

50
descriptions/unitree/go2_description/config/issacgym/config.yaml Normal file
View File

@ -0,0 +1,50 @@
model_name: "policy.pt"
framework: "isaacgym"
rows: 4
cols: 3
use_history: True
decimation: 4
num_observations: 45
observations: ["ang_vel", "gravity_vec", "commands", "dof_pos", "dof_vel", "actions"]
clip_obs: 100.0
clip_actions_lower: [-100, -100, -100,
-100, -100, -100,
-100, -100, -100,
-100, -100, -100]
clip_actions_upper: [100, 100, 100,
100, 100, 100,
100, 100, 100,
100, 100, 100]
rl_kp: [20.1, 20.1, 20.1,
20.1, 20.1, 20.1,
20.1, 20.1, 20.1,
20.1, 20.1, 20.1]
rl_kd: [0.61, 0.61, 0.61,
0.61, 0.61, 0.61,
0.61, 0.61, 0.61,
0.61, 0.61, 0.61]
fixed_kp: [80, 80, 80,
80, 80, 80,
80, 80, 80,
80, 80, 80]
fixed_kd: [3, 3, 3,
3, 3, 3,
3, 3, 3,
3, 3, 3]
hip_scale_reduction: 0.5
hip_scale_reduction_indices: [0, 3, 6, 9]
num_of_dofs: 12
action_scale: 0.25
lin_vel_scale: 2.0
ang_vel_scale: 0.25
dof_pos_scale: 1.0
dof_vel_scale: 0.05
commands_scale: [2.0, 2.0, 1.0]
torque_limits: [33.5, 33.5, 33.5,
33.5, 33.5, 33.5,
33.5, 33.5, 33.5,
33.5, 33.5, 33.5]
default_dof_pos: [ 0.1000, 0.8000, -1.5000,
-0.1000, 0.8000, -1.5000,
0.1000, 1.0000, -1.5000,
-0.1000, 1.0000, -1.5000]

BIN
descriptions/unitree/go2_description/config/issacgym/policy.pt Normal file
View File

Binary file not shown.

50
descriptions/unitree/go2_description/config/robot_control.yaml
View File

@ -1,7 +1,7 @@
# Controller Manager configuration # Controller Manager configuration
controller_manager: controller_manager:
ros__parameters: ros__parameters:
update_rate: 500 # Hz update_rate: 1000 # Hz
# Define the available controllers # Define the available controllers
joint_state_broadcaster: joint_state_broadcaster:
@ -16,6 +16,9 @@ controller_manager:
ocs2_quadruped_controller: ocs2_quadruped_controller:
type: ocs2_quadruped_controller/Ocs2QuadrupedController type: ocs2_quadruped_controller/Ocs2QuadrupedController
rl_quadruped_controller:
type: rl_quadruped_controller/LeggedGymController
imu_sensor_broadcaster: imu_sensor_broadcaster:
ros__parameters: ros__parameters:
sensor_name: "imu_sensor" sensor_name: "imu_sensor"
@ -73,7 +76,7 @@ unitree_guide_controller:
ocs2_quadruped_controller: ocs2_quadruped_controller:
ros__parameters: ros__parameters:
update_rate: 500 # Hz update_rate: 100 # Hz
joints: joints:
- FL_hip_joint - FL_hip_joint
@ -128,3 +131,46 @@ ocs2_quadruped_controller:
- RL - RL
- FR - FR
- RR - RR
rl_quadruped_controller:
ros__parameters:
update_rate: 200 # Hz
joints:
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
command_interfaces:
- effort
- position
- velocity
- kp
- kd
state_interfaces:
- effort
- position
- velocity
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

110
descriptions/unitree/go2_description/launch/gazebo_rl_control.launch.py Normal file
View File

@ -0,0 +1,110 @@
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, RegisterEventHandler
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.event_handlers import OnProcessExit
from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
package_description = "go2_description"
def process_xacro():
pkg_path = os.path.join(get_package_share_directory(package_description))
xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
robot_description_config = xacro.process_file(xacro_file, mappings={'GAZEBO': 'true'})
return robot_description_config.toxml()
def generate_launch_description():
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
robot_description = process_xacro()
gz_spawn_entity = Node(
package='ros_gz_sim',
executable='create',
output='screen',
arguments=['-topic', 'robot_description', '-name',
'go2', '-allow_renaming', 'true', '-z', '0.4'],
)
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"],
)
controller = Node(
package="controller_manager",
executable="spawner",
arguments=["rl_quadruped_controller", "--controller-manager", "/controller_manager"],
parameters=[
{
'config_folder': os.path.join(get_package_share_directory(package_description), 'config',
'issacgym'),
}],
)
return LaunchDescription([
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
),
Node(
package='ros_gz_bridge',
executable='parameter_bridge',
arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
output='screen'
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
'launch',
'gz_sim.launch.py'])]),
launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]),
robot_state_publisher,
gz_spawn_entity,
leg_pd_controller,
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=leg_pd_controller,
on_exit=[controller, imu_sensor_broadcaster, joint_state_publisher],
)
),
])

103
descriptions/unitree/go2_description/launch/rl_control.launch.py Normal file
View File

@ -0,0 +1,103 @@
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, RegisterEventHandler
from launch.event_handlers import OnProcessExit
from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
package_description = "go2_description"
def process_xacro():
pkg_path = os.path.join(get_package_share_directory(package_description))
xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
robot_description_config = xacro.process_file(xacro_file)
return robot_description_config.toxml()
def generate_launch_description():
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
robot_description = process_xacro()
robot_controllers = PathJoinSubstitution(
[
FindPackageShare(package_description),
"config",
"robot_control.yaml",
]
)
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
}
],
)
controller_manager = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_controllers,
{
'config_folder': os.path.join(get_package_share_directory(package_description), 'config',
'issacgym'),
}],
output="both",
)
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"],
)
controller = Node(
package="controller_manager",
executable="spawner",
arguments=["rl_quadruped_controller", "--controller-manager", "/controller_manager"],
)
return LaunchDescription([
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
),
robot_state_publisher,
controller_manager,
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=[controller],
)
),
])

69
descriptions/unitree/go2_description/launch/unitree_guide.launch.py
View File

@ -12,16 +12,18 @@ from launch_ros.substitutions import FindPackageShare
package_description = "go2_description" package_description = "go2_description"
def process_xacro(context): def process_xacro():
robot_type_value = context.launch_configurations['robot_type']
pkg_path = os.path.join(get_package_share_directory(package_description)) pkg_path = os.path.join(get_package_share_directory(package_description))
xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro') xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
robot_description_config = xacro.process_file(xacro_file, mappings={'robot_type': robot_type_value}) robot_description_config = xacro.process_file(xacro_file)
return (robot_description_config.toxml(), robot_type_value) return robot_description_config.toxml()
def launch_setup(context, *args, **kwargs): def generate_launch_description():
(robot_description, robot_type) = process_xacro(context) rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
robot_description = process_xacro()
robot_controllers = PathJoinSubstitution( robot_controllers = PathJoinSubstitution(
[ [
FindPackageShare(package_description), FindPackageShare(package_description),
@ -30,6 +32,13 @@ def launch_setup(context, *args, **kwargs):
] ]
) )
controller_manager = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_controllers],
output="both",
)
robot_state_publisher = Node( robot_state_publisher = Node(
package='robot_state_publisher', package='robot_state_publisher',
executable='robot_state_publisher', executable='robot_state_publisher',
@ -44,13 +53,6 @@ def launch_setup(context, *args, **kwargs):
], ],
) )
controller_manager = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_controllers],
output="both",
)
joint_state_publisher = Node( joint_state_publisher = Node(
package="controller_manager", package="controller_manager",
executable="spawner", executable="spawner",
@ -71,42 +73,21 @@ def launch_setup(context, *args, **kwargs):
arguments=["unitree_guide_controller", "--controller-manager", "/controller_manager"], arguments=["unitree_guide_controller", "--controller-manager", "/controller_manager"],
) )
return [
robot_state_publisher,
controller_manager,
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=[unitree_guide_controller],
)
),
]
def generate_launch_description():
robot_type_arg = DeclareLaunchArgument(
'robot_type',
default_value='go2',
description='Type of the robot'
)
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
return LaunchDescription([ return LaunchDescription([
robot_type_arg,
OpaqueFunction(function=launch_setup),
Node( Node(
package='rviz2', package='rviz2',
executable='rviz2', executable='rviz2',
name='rviz_ocs2', name='rviz_ocs2',
output='screen', output='screen',
arguments=["-d", rviz_config_file] arguments=["-d", rviz_config_file]
) ),
robot_state_publisher,
controller_manager,
joint_state_publisher,
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=joint_state_publisher,
on_exit=[imu_sensor_broadcaster, unitree_guide_controller],
)
),
]) ])

44
descriptions/unitree/go2_description/launch/visualize.launch.py
View File

@ -3,23 +3,30 @@ import os
from ament_index_python.packages import get_package_share_directory from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction
from launch_ros.actions import Node from launch_ros.actions import Node
import xacro import xacro
package_description = "go2_description" package_description = "go2_description"
def process_xacro(context): def process_xacro():
robot_type_value = context.launch_configurations['robot_type']
pkg_path = os.path.join(get_package_share_directory(package_description)) pkg_path = os.path.join(get_package_share_directory(package_description))
xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro') xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
robot_description_config = xacro.process_file(xacro_file, mappings={'robot_type': robot_type_value}) robot_description_config = xacro.process_file(xacro_file)
return robot_description_config.toxml() return robot_description_config.toxml()
def generate_launch_description():
def launch_setup(context, *args, **kwargs): rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
robot_description = process_xacro(context) robot_description = process_xacro()
return [
return LaunchDescription([
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
),
Node( Node(
package='robot_state_publisher', package='robot_state_publisher',
executable='robot_state_publisher', executable='robot_state_publisher',
@ -39,27 +46,4 @@ def launch_setup(context, *args, **kwargs):
name='joint_state_publisher', name='joint_state_publisher',
output='screen', output='screen',
) )
]
def generate_launch_description():
robot_type_arg = DeclareLaunchArgument(
'robot_type',
default_value='go2',
description='Type of the robot'
)
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
return LaunchDescription([
robot_type_arg,
OpaqueFunction(function=launch_setup),
Node(
package='rviz2',
executable='rviz2',
name='rviz_ocs2',
output='screen',
arguments=["-d", rviz_config_file]
)
]) ])

74
descriptions/unitree/go2_description/xacro/gazebo.xacro
View File

@ -106,7 +106,7 @@
<gazebo> <gazebo>
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin"> <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>$(find a1_description)/config/gazebo.yaml</parameters> <parameters>$(find go2_description)/config/gazebo.yaml</parameters>
</plugin> </plugin>
<plugin filename="gz-sim-imu-system" <plugin filename="gz-sim-imu-system"
name="gz::sim::systems::Imu"> name="gz::sim::systems::Imu">
@ -128,54 +128,54 @@
<imu> <imu>
<angular_velocity> <angular_velocity>
<x> <x>
<!-- <noise type="gaussian">--> <noise type="gaussian">
<!-- <mean>0.0</mean>--> <mean>0.0</mean>
<!-- <stddev>2e-4</stddev>--> <stddev>2e-4</stddev>
<!-- <bias_mean>0.0000075</bias_mean>--> <bias_mean>0.0000075</bias_mean>
<!-- <bias_stddev>0.0000008</bias_stddev>--> <bias_stddev>0.0000008</bias_stddev>
<!-- </noise>--> </noise>
</x> </x>
<y> <y>
<!-- <noise type="gaussian">--> <noise type="gaussian">
<!-- <mean>0.0</mean>--> <mean>0.0</mean>
<!-- <stddev>2e-4</stddev>--> <stddev>2e-4</stddev>
<!-- <bias_mean>0.0000075</bias_mean>--> <bias_mean>0.0000075</bias_mean>
<!-- <bias_stddev>0.0000008</bias_stddev>--> <bias_stddev>0.0000008</bias_stddev>
<!-- </noise>--> </noise>
</y> </y>
<z> <z>
<!-- <noise type="gaussian">--> <noise type="gaussian">
<!-- <mean>0.0</mean>--> <mean>0.0</mean>
<!-- <stddev>2e-4</stddev>--> <stddev>2e-4</stddev>
<!-- <bias_mean>0.0000075</bias_mean>--> <bias_mean>0.0000075</bias_mean>
<!-- <bias_stddev>0.0000008</bias_stddev>--> <bias_stddev>0.0000008</bias_stddev>
<!-- </noise>--> </noise>
</z> </z>
</angular_velocity> </angular_velocity>
<linear_acceleration> <linear_acceleration>
<x> <x>
<!-- <noise type="gaussian">--> <noise type="gaussian">
<!-- <mean>0.0</mean>--> <mean>0.0</mean>
<!-- <stddev>1.7e-2</stddev>--> <stddev>1.7e-2</stddev>
<!-- <bias_mean>0.1</bias_mean>--> <bias_mean>0.1</bias_mean>
<!-- <bias_stddev>0.001</bias_stddev>--> <bias_stddev>0.001</bias_stddev>
<!-- </noise>--> </noise>
</x> </x>
<y> <y>
<!-- <noise type="gaussian">--> <noise type="gaussian">
<!-- <mean>0.0</mean>--> <mean>0.0</mean>
<!-- <stddev>1.7e-2</stddev>--> <stddev>1.7e-2</stddev>
<!-- <bias_mean>0.1</bias_mean>--> <bias_mean>0.1</bias_mean>
<!-- <bias_stddev>0.001</bias_stddev>--> <bias_stddev>0.001</bias_stddev>
<!-- </noise>--> </noise>
</y> </y>
<z> <z>
<!-- <noise type="gaussian">--> <noise type="gaussian">
<!-- <mean>0.0</mean>--> <mean>0.0</mean>
<!-- <stddev>1.7e-2</stddev>--> <stddev>1.7e-2</stddev>
<!-- <bias_mean>0.1</bias_mean>--> <bias_mean>0.1</bias_mean>
<!-- <bias_stddev>0.001</bias_stddev>--> <bias_stddev>0.001</bias_stddev>
<!-- </noise>--> </noise>
</z> </z>
</linear_acceleration> </linear_acceleration>
</imu> </imu>