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quadruped_ros2_control
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fix ocs2 performance under ubuntu 24.04

This commit is contained in:
Zhenbiao Huang 2024-10-18 22:22:07 +08:00
parent b8e6d1bec3
commit eeff28fb7a
10 changed files with 12 additions and 8 deletions
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2
controllers/ocs2_quadruped_controller/README.md
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@ -7,6 +7,8 @@ Tested environment:
* Ubuntu 24.04 * Ubuntu 24.04
* ROS2 Jazzy * ROS2 Jazzy
* Ubuntu 22.04
* ROS2 Humble
[![](http://i0.hdslb.com/bfs/archive/e758ce019587032449a153cf897a543443b64bba.jpg)](https://www.bilibili.com/video/BV1UcxieuEmH/) [![](http://i0.hdslb.com/bfs/archive/e758ce019587032449a153cf897a543443b64bba.jpg)](https://www.bilibili.com/video/BV1UcxieuEmH/)

2
descriptions/anybotics/anymal_c_description/config/robot_control.yaml
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@ -26,7 +26,7 @@ imu_sensor_broadcaster:
ocs2_quadruped_controller: ocs2_quadruped_controller:
ros__parameters: ros__parameters:
update_rate: 500 # Hz update_rate: 100 # Hz
default_kd: 1.5 default_kd: 1.5
joints: joints:
- LF_HAA - LF_HAA

2
descriptions/deep_robotics/lite3_description/config/robot_control.yaml
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@ -77,7 +77,7 @@ unitree_guide_controller:
ocs2_quadruped_controller: ocs2_quadruped_controller:
ros__parameters: ros__parameters:
update_rate: 500 # Hz update_rate: 100 # Hz
default_kd: 1.2 default_kd: 1.2
joints: joints:
- FL_HipX - FL_HipX

2
descriptions/deep_robotics/x30_description/README.md
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@ -6,6 +6,8 @@ This repository contains the urdf model of x30.
Tested environment: Tested environment:
* Ubuntu 24.04 * Ubuntu 24.04
* ROS2 Jazzy * ROS2 Jazzy
* Ubuntu 22.04
* ROS2 Humble
## Build ## Build
```bash ```bash

2
descriptions/deep_robotics/x30_description/config/robot_control.yaml
View File

@ -77,7 +77,7 @@ unitree_guide_controller:
ocs2_quadruped_controller: ocs2_quadruped_controller:
ros__parameters: ros__parameters:
update_rate: 500 # Hz update_rate: 100 # Hz
default_kd: 8.0 default_kd: 8.0
joints: joints:
- FL_HipX - FL_HipX

2
descriptions/unitree/a1_description/config/robot_control.yaml
View File

@ -76,7 +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

2
descriptions/unitree/aliengo_description/config/robot_control.yaml
View File

@ -73,7 +73,7 @@ unitree_guide_controller:
ocs2_quadruped_controller: ocs2_quadruped_controller:
ros__parameters: ros__parameters:
update_rate: 500 # Hz update_rate: 100 # Hz
default_kd: 5.0 default_kd: 5.0
joints: joints:

2
descriptions/unitree/b2_description/config/robot_control.yaml
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@ -73,7 +73,7 @@ unitree_guide_controller:
ocs2_quadruped_controller: ocs2_quadruped_controller:
ros__parameters: ros__parameters:
update_rate: 500 # Hz update_rate: 100 # Hz
default_kd: 8.0 default_kd: 8.0

2
descriptions/unitree/go1_description/config/robot_control.yaml
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@ -73,7 +73,7 @@ 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

2
descriptions/xiaomi/cyberdog_description/config/robot_control.yaml
View File

@ -100,7 +100,7 @@ imu_sensor_broadcaster:
ocs2_quadruped_controller: ocs2_quadruped_controller:
ros__parameters: ros__parameters:
update_rate: 500 # Hz update_rate: 100 # Hz
default_kd: 1.0 default_kd: 1.0
joints: joints: