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quadruped_ros2_control
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remove "CONTROLLER_INTERFACE_PUBLIC"

This commit is contained in:
Huang Zhenbiao 2025-02-19 11:56:29 +08:00
parent 7ed46994e4
commit e3f518eb12
6 changed files with 6 additions and 35 deletions
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2
README.md
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@ -55,7 +55,7 @@ Please use **C++ Simulation** in this [Mujoco Simulation](https://github.com/leg
cd ~/ros2_ws cd ~/ros2_ws
colcon build --packages-up-to hardware_unitree_mujoco colcon build --packages-up-to hardware_unitree_mujoco
``` ```
* Launch the unitree mujoco go2 simulation * Follow the guide in [unitree_mujoco](https://github.com/legubiao/unitree_mujoco) to launch the unitree mujoco go2 simulation
* Launch the ros2-control * Launch the ros2-control
```bash ```bash
source ~/ros2_ws/install/setup.bash source ~/ros2_ws/install/setup.bash

1
controllers/ocs2_quadruped_controller/README.md
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@ -38,6 +38,7 @@ Required hardware interfaces:
## 2. Build ## 2. Build
### 2.1 Build Dependencies ### 2.1 Build Dependencies
Before install OCS2 ROS2, please follow the guide to install [Pinocchio](https://stack-of-tasks.github.io/pinocchio/download.html), don't use the pinocchio install by rosdep!
* OCS2 ROS2 Libraries * OCS2 ROS2 Libraries
```bash ```bash

1
controllers/ocs2_quadruped_controller/package.xml
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@ -15,6 +15,7 @@
<depend>control_input_msgs</depend> <depend>control_input_msgs</depend>
<depend>qpoases_colcon</depend> <depend>qpoases_colcon</depend>
<depend>ocs2_self_collision</depend> <depend>ocs2_self_collision</depend>
<depend>ocs2_legged_robot_ros</depend>
<depend>angles</depend> <depend>angles</depend>
<test_depend>ament_lint_auto</test_depend> <test_depend>ament_lint_auto</test_depend>

13
controllers/ocs2_quadruped_controller/src/Ocs2QuadrupedController.h
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@ -19,43 +19,34 @@
namespace ocs2::legged_robot { namespace ocs2::legged_robot {
class Ocs2QuadrupedController final : public controller_interface::ControllerInterface { class Ocs2QuadrupedController final : public controller_interface::ControllerInterface {
public: public:
CONTROLLER_INTERFACE_PUBLIC
Ocs2QuadrupedController() = default; Ocs2QuadrupedController() = default;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::InterfaceConfiguration command_interface_configuration() const override; controller_interface::InterfaceConfiguration command_interface_configuration() const override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::InterfaceConfiguration state_interface_configuration() const override; controller_interface::InterfaceConfiguration state_interface_configuration() const override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::return_type update( controller_interface::return_type update(
const rclcpp::Time &time, const rclcpp::Duration &period) override; const rclcpp::Time &time, const rclcpp::Duration &period) override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_init() override; controller_interface::CallbackReturn on_init() override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_configure( controller_interface::CallbackReturn on_configure(
const rclcpp_lifecycle::State &previous_state) override; const rclcpp_lifecycle::State &previous_state) override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_activate( controller_interface::CallbackReturn on_activate(
const rclcpp_lifecycle::State &previous_state) override; const rclcpp_lifecycle::State &previous_state) override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_deactivate( controller_interface::CallbackReturn on_deactivate(
const rclcpp_lifecycle::State &previous_state) override; const rclcpp_lifecycle::State &previous_state) override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_cleanup( controller_interface::CallbackReturn on_cleanup(
const rclcpp_lifecycle::State &previous_state) override; const rclcpp_lifecycle::State &previous_state) override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_shutdown( controller_interface::CallbackReturn on_shutdown(
const rclcpp_lifecycle::State &previous_state) override; const rclcpp_lifecycle::State &previous_state) override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_error( controller_interface::CallbackReturn on_error(
const rclcpp_lifecycle::State &previous_state) override; const rclcpp_lifecycle::State &previous_state) override;

13
controllers/rl_quadruped_controller/src/RlQuadrupedController.h
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@ -24,43 +24,32 @@ namespace rl_quadruped_controller {
class LeggedGymController final : public controller_interface::ControllerInterface { class LeggedGymController final : public controller_interface::ControllerInterface {
public: public:
CONTROLLER_INTERFACE_PUBLIC
LeggedGymController() = default; LeggedGymController() = default;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::InterfaceConfiguration command_interface_configuration() const override; controller_interface::InterfaceConfiguration command_interface_configuration() const override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::InterfaceConfiguration state_interface_configuration() const override; controller_interface::InterfaceConfiguration state_interface_configuration() const override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::return_type update( controller_interface::return_type update(
const rclcpp::Time &time, const rclcpp::Duration &period) override; const rclcpp::Time &time, const rclcpp::Duration &period) override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_init() override; controller_interface::CallbackReturn on_init() override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_configure( controller_interface::CallbackReturn on_configure(
const rclcpp_lifecycle::State &previous_state) override; const rclcpp_lifecycle::State &previous_state) override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_activate( controller_interface::CallbackReturn on_activate(
const rclcpp_lifecycle::State &previous_state) override; const rclcpp_lifecycle::State &previous_state) override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_deactivate( controller_interface::CallbackReturn on_deactivate(
const rclcpp_lifecycle::State &previous_state) override; const rclcpp_lifecycle::State &previous_state) override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_cleanup( controller_interface::CallbackReturn on_cleanup(
const rclcpp_lifecycle::State &previous_state) override; const rclcpp_lifecycle::State &previous_state) override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_shutdown( controller_interface::CallbackReturn on_shutdown(
const rclcpp_lifecycle::State &previous_state) override; const rclcpp_lifecycle::State &previous_state) override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_error( controller_interface::CallbackReturn on_error(
const rclcpp_lifecycle::State &previous_state) override; const rclcpp_lifecycle::State &previous_state) override;

11
controllers/unitree_guide_controller/include/unitree_guide_controller/UnitreeGuideController.h
View File

@ -33,43 +33,32 @@ namespace unitree_guide_controller {
class UnitreeGuideController final : public controller_interface::ControllerInterface { class UnitreeGuideController final : public controller_interface::ControllerInterface {
public: public:
CONTROLLER_INTERFACE_PUBLIC
UnitreeGuideController() = default; UnitreeGuideController() = default;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::InterfaceConfiguration command_interface_configuration() const override; controller_interface::InterfaceConfiguration command_interface_configuration() const override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::InterfaceConfiguration state_interface_configuration() const override; controller_interface::InterfaceConfiguration state_interface_configuration() const override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::return_type update( controller_interface::return_type update(
const rclcpp::Time &time, const rclcpp::Duration &period) override; const rclcpp::Time &time, const rclcpp::Duration &period) override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_init() override; controller_interface::CallbackReturn on_init() override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_configure( controller_interface::CallbackReturn on_configure(
const rclcpp_lifecycle::State &previous_state) override; const rclcpp_lifecycle::State &previous_state) override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_activate( controller_interface::CallbackReturn on_activate(
const rclcpp_lifecycle::State &previous_state) override; const rclcpp_lifecycle::State &previous_state) override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_deactivate( controller_interface::CallbackReturn on_deactivate(
const rclcpp_lifecycle::State &previous_state) override; const rclcpp_lifecycle::State &previous_state) override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_cleanup( controller_interface::CallbackReturn on_cleanup(
const rclcpp_lifecycle::State &previous_state) override; const rclcpp_lifecycle::State &previous_state) override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_error( controller_interface::CallbackReturn on_error(
const rclcpp_lifecycle::State &previous_state) override; const rclcpp_lifecycle::State &previous_state) override;
CONTROLLER_INTERFACE_PUBLIC
controller_interface::CallbackReturn on_shutdown( controller_interface::CallbackReturn on_shutdown(
const rclcpp_lifecycle::State &previous_state) override; const rclcpp_lifecycle::State &previous_state) override;